hustmrzhang / odom_extrinsic_calibrate

Odom intrinsic and odom-sensors extrinsic calibration on SE2 using batch optimization.

odom_extrinsic_calibrate

Introduction

This C++ library supports the following tasks:

1. Intrinsic calibration of differential-driven mobile robot odometer(radius_left, radius_right).
2. Extrinsic self-calibration of sensor-odometer(3D, delta_x, delta_y, delta_theta).

The workings of the library are described in the this paper:

     Brookshire J, Teller S. Automatic calibration of multiple coplanar sensors[J]. Robotics: Science and Systems VII, 2012, 33.
     
    
    Di Cicco, M., Della Corte, B., & Grisetti, G. (2016, May). Unsupervised calibration of wheeled mobile platforms. In Robotics and Automation (ICRA), 2016 IEEE International Conference on (pp. 4328-4334). IEEE.

Build Instructions for Ubuntu

Required dependencies

• Eigen3.3 (included)
• Sophus (included)
• ceres-solver

1. Build the code.

    mkdir build
    cd build
    cmake -DCMAKE_BUILD_TYPE=Release ..
   

Examples

Go to the build folder where the executables corresponding to the examples are located in. To see all allowed options for each executable, use the --help option which shows a description of all available options.

1. calibration

   ./build/calib data_path  [calibrate_result_path]
   

There are some samples in calibrate_dataset folder.