| Publication type: |
Article in Proceedings |
| Author: |
René Wagner, Oliver Birbach, Udo Frese |
| Title: |
Rapid Development of Manifold-Based Graph Optimization Systems for Multi-Sensor Calibration and SLAM |
| Book / Collection title: |
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, California |
| Year published: |
2011 |
| Abstract: |
Non-linear optimization on constraint graphs has recently
been applied very successfully in a variety of SLAM
backends. We combine this technique with a principled way
of handling non-Euclidean spaces, 3D orientations in
particular, based on manifolds to build a generic and very
flexible framework, the Manifold Toolkit for Matlab (MTKM).
We show that MTKM makes it particularly easy to solve
non-trivial multi-sensor calibration problems while
remaining generic enough to handle a very different class
of problems, namely SLAM, as well: After an introductory
example on single camera calibration we apply MTKM to
calibration of stereo vision and IMU w.r.t. the kinematic
chain of a service robot, RGB-D and accelerometer
calibration of a Microsoft Kinect, stereo calibration on a
Nao soccer robot, and several SLAM benchmark data sets
illustrating MTKM's versatility. MTKM and all presented
examples will be published as open source. |
| PDF Version: |
http://www.informatik.uni-bremen.de/agebv/downloads/published/wagner_iros_11.pdf |
| Status: |
Reviewed |
| Last updated: |
24. 08. 2016 |
|
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