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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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