Papers › Motion-based extrinsic sensor-to-sensor calibration: Effect of reference frame...
Motion-based extrinsic sensor-to-sensor calibration: Effect of reference frame selection for new and existing methods
Tuomas Välimäki, Bharath Garigipati, Reza Ghabcheloo
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
This paper studies the effect of reference frame selection in sensor-to-sensor extrinsic calibration when formulated as a motion-based hand-eye calibration problem. Different reference selection options are tested under varying noise conditions in simulation, and the findings are validated with real data from the KITTI dataset. We propose two nonlinear cost functions for optimization and compare them with four state-of-the-art methods. One of the proposed cost functions incorporates outlier rejection to improve calibration performance and was shown to significantly improve performance in the presence of outliers, and either match or outperform the other algorithms in other noise conditions. However, the performance gain from reference frame selection was deemed larger than that from algorithm selection. In addition, we show that with realistic noise, the reference frame selection method commonly used in literature is inferior to other tested options, and that relative error metrics are not reliable for telling which method achieves best calibration performance.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Datasets
Introduced by this paper, per the archive.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections