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Excalibur

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An open-source Python library for extrinsic sensor calibration. We provide various solving and optimization methods for different calibration formulations:

  • Point set registration / point-to-point matching
  • Pose set registration / frame-to-frame matching
  • Point-to-line matching
  • Point-to-plane matching
  • Hand-eye calibration
  • Hand-eye robot-world calibration

Documentation

For installation instructions and the basic usage, see the documentation at excalibur-mrm.readthedocs.io.

Furthermore, the doc directory provides a detailed readme on how to create the documentation directly from the repository.

Publications

The publications directory contains scripts and data related to the following publications of our DualQuaternionQCQP methods for hand-eye calibration and hand-eye robot-world calibration:

Be aware that we have made improvements and bugfixes since the publications, so the results and run times might differ from the ones in the publications. Please cite the respective publication if you are using Excalibur for your own research. You can find the Bibtex citations in the CITATIONS.bib file.