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Unified temporal and spatial calibration for multi-sensor systems

Furgale, Paul, Rehder, Joern, Siegwart, Roland·2013·2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
DOI 10.1109/iros.2013.6696514
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Abstract

In order to increase accuracy and robustness in state estimation for robotics, a growing number of applications rely on data from multiple complementary sensors. For the best performance in sensor fusion, these different sensors must be spatially and temporally registered with respect to each other. To this end, a number of approaches have been developed to estimate these system parameters in a two stage process, first estimating the time offset and subsequently solving for the spatial transformation between sensors. In this work, we present on a novel framework for jointly estimating the temporal offset between measurements of different sensors and their spatial displacements with respect to each other. The approach is enabled by continuous-time batch estimation and extends previous work by seamlessly incorporating time offsets within the rigorous theoretical framework of maximum likelihood estimation. Experimental results for a camera to inertial measurement unit (IMU) calibration prove the ability of this framework to accurately estimate time offsets up to a fraction of the smallest measurement period.

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Metadata

Authors
Furgale, P., Rehder, J., & Siegwart, R.
Venue
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher
IEEE
Published
2013-11
Pages
1280-1286
DOI
10.1109/iros.2013.6696514
OpenAlex
W1998058414
Cited by
807
References
0
FWCI
30.09
Type
conference paper
Language
en
Open access
closed

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CoChat. (2026). Citation check: Unified temporal and spatial calibration for multi-sensor systems. https://app.cochat.ai/papers/10.1109/iros.2013.6696514
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Furgale, P., Rehder, J., & Siegwart, R. (2013). Unified temporal and spatial calibration for multi-sensor systems. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/iros.2013.6696514

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