Extrinsic Sensor Calibration Methods for Mobile Robots: A Short Review

摘要

Data acquisition is a critical task for localisation and perception of mobile robots. It is necessary to compute the relative pose between onboard sensors to process the data in a common frame. Thus, extrinsic calibration computes the sensor's relative pose improving data consistency between them. This paper performs a literature review on extrinsic sensor calibration methods prioritising the most recent ones. The sensors types considered were laser scanners, cameras and IMUs. It was found methods for robot-laser, laser-laser, laser-camera, robot-camera, camera-camera, camera-IMU, IMU-IMU and laser-IMU calibration. The analysed methods allow the full calibration of a sensory system composed of lasers, cameras and IMUs.