Excalibur

An open-source Python library for extrinsic sensor calibration. We provide various solving and optimization methods for different calibration formulations:

• Point set registration / point-to-point matching
• Pose set registration / frame-to-frame matching
• Point-to-line matching
• Point-to-plane matching
• Hand-eye calibration
• Hand-eye robot-world calibration

Documentation

For installation instructions and the basic usage, see the documentation at excalibur-mrm.readthedocs.io.

Furthermore, the doc directory provides a detailed readme on how to create the documentation directly from the repository.

Publications

The publications directory contains scripts and data related to the following publications of our DualQuaternionQCQP methods for hand-eye calibration and hand-eye robot-world calibration:

• Online Extrinsic Calibration Based on Per-Sensor Ego-Motion Using Dual Quaternions
  M. Horn, T. Wodtko, M. Buchholz and K. Dietmayer
  IEEE Robotics and Automation Letters (RA-L) (Volume: 6, Issue: 2, April 2021)

  DOI: 10.1109/LRA.2021.3056352
  IEEE Xplore: https://ieeexplore.ieee.org/document/9345480
  ArXiv: https://arxiv.org/abs/2101.11440

• Globally Optimal Multi-Scale Monocular Hand-Eye Calibration Using Dual Quaternions
  T. Wodtko, M. Horn, M. Buchholz and K. Dietmayer
  2021 International Conference on 3D Vision (3DV)

  DOI: 10.1109/3DV53792.2021.00035
  IEEE Xplore: https://ieeexplore.ieee.org/document/9665837
  ArXiv: https://arxiv.org/abs/2201.04473

• Extrinsic Infrastructure Calibration Using the Hand-Eye Robot-World Formulation
  M. Horn, T. Wodtko, M. Buchholz and K. Dietmayer
  2023 IEEE Intelligent Vehicles Symposium (IV)

  DOI: 10.1109/IV55152.2023.10186703
  IEEE Xplore: https://ieeexplore.ieee.org/document/10186703
  ArXiv: https://arxiv.org/abs/2305.01407

• User Feedback and Sample Weighting for Ill-Conditioned Hand-Eye Calibration
  M. Horn, T. Wodtko, M. Buchholz and K. Dietmayer
  2023 IEEE International Conference on Intelligent Transportation Systems (ITSC)

  ArXiv: https://arxiv.org/abs/2308.06045

Be aware that we have made improvements and bugfixes since the publications, so the results and run times might differ from the ones in the publications. Please cite the respective publication if you are using Excalibur for your own research. You can find the Bibtex citations in the CITATIONS.bib file.