论文标题
全球最佳的多尺度单眼手眼校准，使用双四季度
Globally Optimal Multi-Scale Monocular Hand-Eye Calibration Using Dual Quaternions
论文作者
论文摘要
在这项工作中，我们提出了一种基于双重季节的人眼动感的单眼手眼校准的方法。由于单眼探光仪的非高度缩放翻译，除了旋转和翻译校准外，还必须估算一个缩放因子。为此，我们得出了一个四次约束的二次程序，该程序允许对所有外部校准参数进行组合估计。由于其紧凑的表示，使用双重四元素会导致跑步时间较低。我们的问题公式进一步允许同时估算相同传感器设置的不同序列的多个量表。根据我们的问题表述，我们既是快速的本地和全球最佳解决方法。最后，对我们的算法进行了评估并将其与模拟和现实数据（例如欧洲MAV数据集）的最新方法进行了比较。
In this work, we present an approach for monocular hand-eye calibration from per-sensor ego-motion based on dual quaternions. Due to non-metrically scaled translations of monocular odometry, a scaling factor has to be estimated in addition to the rotation and translation calibration. For this, we derive a quadratically constrained quadratic program that allows a combined estimation of all extrinsic calibration parameters. Using dual quaternions leads to low run-times due to their compact representation. Our problem formulation further allows to estimate multiple scalings simultaneously for different sequences of the same sensor setup. Based on our problem formulation, we derive both, a fast local and a globally optimal solving approach. Finally, our algorithms are evaluated and compared to state-of-the-art approaches on simulated and real-world data, e.g., the EuRoC MAV dataset.
