Multisensor Extrinsic Calibration Package

A ROS application to estimate the extrinsic parameters (geometric transformations) between a set of sensors, with respect to a global frame using a ball as a calibration target. The calibration process consists of the following stages:

1. each sensor must detect the ball and compute the position of its center;
2. the ball is placed in motion in front of the sensors allowing them to detect its center along sucessive positions, creating at the same time a point cloud of detected centers for each of the sensors;
3. one sensors is chosen as reference and the remainder are calibrated relatively to it.

Supported Hardware

This package currently supports the following sensors:

• Sick LD-MRS400001
• Sick LMS151
• SwissRanger SR40000
• Point Grey cameras Flea Gigabit Ethernet (tested with the model FL3-GE28S4-C)
• Microsoft Kinect 3D-depth sensor

ROS Packages

calibration_gui is the actual extrinsic calibration package, which requires several other ROS packages:

• colormap provides similar functionality as MATLAB colormap;
• csiro-asl-ros-pkg provides a ROS driver node for the SICK LD-MRS400001 laser scanner;
• RCPRG laser drivers provides a ROS driver node for the SICK LMS151 laser scanner;
• lidar_segmentation provides 2D LIDAR segmentation algorithms. Included on LARtk;
• pointgrey_fl3_ge_28s4_c provides a ROS driver node for the Point Grey FL3-GE28S4-C camera;
• swissranger camera-master provides a ROS driver node for the SwissRanger SR4000 device;

Finally, the multisensor_fusion package is not required by the calibration package (calibration_gui), but is included since it performs multisensor data combination using the previously estimated geometric transformations.

Installation

1. Clone (including submodules);
2. Before compiling, install the following system dependencies: FlyCapture 2.x SDK and libmesasr-dev;
3. Compile the packages

Video

ATLAS Project developed at LAR-UA
http://atlas.web.ua.pt/
http://lars.mec.ua.pt/