Active Online Calibration of Multiple Sensors for Autonomous Surface Vessels

摘要

We present an approach to actively calibrate the exteroceptive sensors of an Autonomous Surface Vessel (ASV) autonomously. The approach consists of locating suitable calibration sites in the environment from aerial imagery, navigating to them, gathering calibration data and estimating the required parameters from data. We have conducted experiments using an ASV in a lake to validate our approach.