An overview of robot-sensor calibration methods for evaluation of perception systems

Abstract

In this paper, an overview of methods that solve the robotsensor calibration problem of the forms AX = XB and AX = YB is given. Each form will be split into three solutions: separable closed-form solutions, simultaneous closed-form solutions, and iterative solutions. The advantages and disadvantages of each of the solutions in the case of evaluation of perception systems will also be discussed.