A novel solution for $\mathbf{AX}=\mathbf{YB}$ sensor calibration problem using dual Lie algebra

摘要

The AX = YB sensor calibration problem is very important in multiple fields such as robotics, computer vision or machine vision. In this type of problem, A and B are parameterizations of rigid body motions, while X and Y is an unknown's transformations. This research proposes a new approach for solving the AX = YB sensor calibration problem by mapping the S\mathbbE3 classic formulation into an orthogonal dual tensors set S\mathbbO3 representation. Using an isomorphism between S\mathbbE3 and S\mathbbO3, these solutions are free of coordinates and can easily be put into practice.