Laser-to-Vehicle Extrinsic Calibration in Low-Observability Scenarios for Subsea Mapping
<|reference_start|>Laser-to-Vehicle Extrinsic Calibration in Low-Observability Scenarios for Subsea Mapping: Laser line scanners are increasingly being used in the subsea industry for high-resolution mapping and infrastructure inspection. However, calibrating the 3D pose of the scanner relative to the vehicle is a perennial source of confusion and frustration for industrial surveyors. This work describes three novel algorithms for laser-to-vehicle extrinsic calibration using naturally occurring features. Each algorithm makes a different assumption on the quality of the vehicle trajectory estimate, enabling good calibration results in a wide range of situations. A regularization technique is used to address low-observability scenarios frequently encountered in practice with large, rotationally stable subsea vehicles. Experimental results are provided for two field datasets, including the recently discovered wreck of the Endurance.<|reference_end|>
@article{hitchcox2024laser-to-vehicle,
    title={Laser-to-Vehicle Extrinsic Calibration in Low-Observability Scenarios
  for Subsea Mapping},
    author={Thomas Hitchcox and James Richard Forbes},
    journal={arXiv preprint arXiv:2402.14993},
    year={2024},
    doi={10.1109/LRA.2024.3367270},
    archivePrefix={arXiv},
    eprint={2402.14993},
    primaryClass={cs.RO}
}