This package introduces the concept of optimizing target shape to remove pose ambiguity for LiDAR point clouds. Both the simulation and the experimental results confirm that by using the optimal shape and the global solver, we achieve centimeter error in translation and a few degrees in rotation even when a partially illuminated target is placed…
camera
robotics
detection
target
optimal
lidar
markers
point-clouds
fiducial-markers
cassie
lidar-camera-calibration
lidar-camera-fusion
extrinsic-calibration
global-solution-methods
lidar-targets
global-solver
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Updated
Sep 6, 2021 - MATLAB