Trajectory calibration experiments

Data and experiments for motion-based extrinsic calibration using trajectory_calibration. The data was generated for evaluating hand-eye calibration algorithms in extrinsic sensor-to-sensor calibration.

The repository is organised as follows:

├── calib
│   └── *.csv  # The output calibration values
├── kitti_tests
│   └── ...    # The trajectories generated from KITTI data
├── matlab
│   └── ...    # Matlab files to generate simulation data
├── simulation_tests
│   └── ...    # The generated simulation data
├── *.py       # Scripts to run the calibration experiments
└── README.md

If you use the data in an academic context, please cite:

@article{valimaki2023,
  author = {Välimäki, Tuomas and Garigipati, Bharath and Ghabcheloo, Reza},
  title = {Motion-Based Extrinsic Sensor-to-Sensor Calibration: Effect of Reference Frame Selection for New and Existing Methods},
  journal = {Sensors},
  volume = {23},
  year = {2023},
  number = {7},
  pages = {3740},
  url = {https://www.mdpi.com/1424-8220/23/7/3740},
  issn = {1424-8220},
  doi = {10.3390/s23073740}
}