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Motion Based Multi-Sensor Extrinsic Calibration

These python scripts support multi-sensor extrinsic calibration using only odmetry/motion infomation. The main feature is a non-linear least squares optimization based on Gauss-Helmert framework, as described in the following papers:

Kaihong Huang and Cyrill Stachniss,
Extrinsic Multi-Sensor Calibration For Mobile Robots Using the Gauss-Helmert Model, 
In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2017

To run the script, you need to install cppad (and its python wrapper pycppad ) for automatic differentiation.

Installing cppad and pycppad###

First install cppad. For Ubuntu 16.04 users,

sudo apt-get install cppad

For Ubuntu 14.04, complie and install it from source code

git clone https://github.com/coin-or/CppAD.git
cd CppAD/
mkdir build && cd build
cmake ..
sudo make install

Next is pycppad

git clone https://github.com/b45ch1/pycppad.git
cd pycppad/
gedit setup.py

change cppad_include_dir to ['/usr/include'] in the file setup.py then

python setup.py build_ext --inplace --debug --undef NDEBUG
pip install .
python ./test_example.py

How to use

Please check demo_and_test function in calibration.py file for example usage.