Geometric Calibration of Single-Pixel Distance Sensors

Accompanying code for C. Sifferman, D. Mehrotra, M. Gupta, and M. Gleicher, “Geometric Calibration of Single-Pixel Distance Sensors,” IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6598–6605, 2022, doi: 10.1109/LRA.2022.3176453.

Carter Sifferman, Dev Mehrotra, Mohit Gupta, Michael Gleicher [sifferman|mehrotra|mohitg|gleicher]@cs.wisc.edu

IEEE Xplore

If you use this code, or the ideas in our paper, please cite as:

@ARTICLE{Sifferman2022,
  author={Sifferman, Carter and Mehrotra, Dev and Gupta, Mohit and Gleicher, Michael},
  journal={IEEE Robotics and Automation Letters},
  title={Geometric Calibration of Single-Pixel Distance Sensors},
  year={2022},
  volume={7},
  number={3},
  pages={6598-6605},
  doi={10.1109/LRA.2022.3176453}
}

Glossary

calibration folder contains the optimization code and utility functions for performing the calibration procedure

data folder contains real-world and simulated data used to produce plots in the paper. While each script contains the code to generate its own data, setting GEN_DATA=False at the top of the script will cause the script to read in from the stored data file, saving time.

figures folder contains final figures as they appear in the paper, and as they are generated by the scripts.

Scripts in the root directory correspond to figures in the paper:

Figure	Script
Fig. 4	initial_est_test.py
Fig. 5	degen_1.py degen_2.py degen_3.py
Fig. 6	vary_obs.py
Fig. 7	vary_noise.py
Fig. 9	plane_reconstruction.py

Requirements

The code was developed with the following software versions:
Python 3.8.10
SciPy 1.5.2
Seaborn 0.11.0
MatPlotLib 3.3.2
Pandas 1.1.4
NumPy 1.21.2