Excalibur Documentation

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

Contents

• Installation
• Target Detection
  • Camera Target Detection
  • Lidar Target Detection
• Calibration
  • Point Set Registration
  • Pose Set Registration
  • Point-to-Line Registration
  • Point-to-Plane Registration
  • Hand-Eye Calibration
  • Hand-Eye Robot-World Calibration
  • RANSAC
  • Calibration Manager
• Applications
• Publications
• Development