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ATOM Calibration Framework: Interaction and Visualization Functionalities.

Manuel Gomes1,2, Miguel Oliveira1,2, Vítor Santos1,2

  • 1Intelligent System Associate Laboratory (LASI), Institute of Electronics and Informatics Engineering of Aveiro (IEETA), University of Aveiro, 3810-193 Aveiro, Portugal.

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Summary
This summary is machine-generated.

A new robotic sensor calibration framework, Atomic Transformations Optimization Method (ATOM), enhances user experience and flexibility. ATOM offers improved visualization and interaction for calibrating diverse robotic systems.

Keywords:
ROSextrinsic calibrationintrinsic calibrationmulti-modalmulti-sensoruser experience

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Area of Science:

  • Robotics
  • Computer Vision
  • Sensor Fusion

Background:

  • Modern robotic systems utilize numerous sensors with diverse modalities.
  • Accurate estimation of geometric transformations between sensors (sensor calibration) is crucial for system operation.
  • Existing calibration approaches involve specific formulations and frameworks, impacting usability.

Purpose of the Study:

  • To introduce a novel sensor calibration framework offering enhanced user flexibility, control, and information.
  • To improve the user interface and user experience in calibrating complex robotic systems.
  • To present a framework supported by the Atomic Transformations Optimization Method (ATOM) formulation.

Main Methods:

  • Development of a flexible calibration framework with visualization and interaction functionalities.
  • Integration of sensor initial pose estimation, data collection/labeling, and data review/correction.
  • Utilizing the Atomic Transformations Optimization Method (ATOM) formulation for transformation estimation.
  • Application to various robotic systems with different configurations and sensor types.

Main Results:

  • The proposed framework demonstrates applicability across diverse robotic systems, sensor configurations, and modalities.
  • The framework provides enhanced user control, visualization, and interaction during calibration.
  • A comparative survey indicates a superior user experience with the ATOM framework compared to existing methods.

Conclusions:

  • The novel ATOM calibration framework significantly improves the user experience and flexibility for robotic sensor calibration.
  • ATOM's design is versatile, supporting a wide range of robotic systems and sensor modalities.
  • The framework's interactive features and visualization tools aid in accurate parameter estimation and data management.