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https://github.com/lardemua/atom

Calibration tools for multi-sensor, multi-modal robotic systems
https://github.com/lardemua/atom

calibration calibration-toolbox robotics ros

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Calibration tools for multi-sensor, multi-modal robotic systems

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README 

        
# ATOM Calibration





 






A Calibration Framework using the 
Atomic Transformations Optimization Method 




**ATOM** is a set of calibration tools for multi-sensor, multi-modal, robotic systems, based on the optimization of atomic transformations as provided by a [ROS](https://www.ros.org/) based robot description. Moreover, **ATOM** provides several scripts to facilitate all the steps of a calibration procedure.



For instructions on how to install and use, **check the documentation**:





https://lardemua.github.io/atom_documentation/

 



and check [these examples](https://github.com/lardemua/atom/tree/noetic-devel/atom_examples).





 




Also, you can take a look at the [ATOM youtube playlist](https://www.youtube.com/watch?v=BYs1-H9vh0s&list=PLQN09mzV5mbI4h5IQt3Eu9kugSk-08mnY).



## Support



If this work is helpful for you please cite our paper:



  - Oliveira, M., E. Pedrosa, A. Aguiar, D. Rato, F. Santos, P. Dias, V. Santos, ATOM: A general calibration framework for multi-modal, multi-sensor systems, **Expert Systems with Applications (2022)**, 118000, ISSN 0957-4174, [https://doi.org/10.1016/j.eswa.2022.118000](https://doi.org/10.1016/j.eswa.2022.118000). [Bibtex](docs/bibtexs/Oliveira2022ESWA.bib).



or any other that is more adequate:



  - Gomes, M. M. Oliveira, V. Santos, ATOM Calibration Framework: Interaction and Visualization Functionalities, **Sensors (2023)**, 23, 936. https://doi.org/10.3390/s23020936. [Bibtex](docs/bibtexs/GomesSensors2023.bib). 



  - Rato, D., M. Oliveira, V. Santos, M. Gomes, A. Sappa, A sensor-to-pattern calibration framework for multi-modal industrial collaborative cells,

**Journal of Manufacturing Systems (2022)**, Volume 64, Pages 497-507, ISSN 0278-6125, [https://doi.org/10.1016/j.jmsy.2022.07.006](https://doi.org/10.1016/j.jmsy.2022.07.006). [Bibtex](docs/bibtexs/RatoJMS2022.bib). 



  - Pedrosa, E., M. Oliveira, N. Lau, and V. Santos, A General Approach to Hand–Eye Calibration Through the Optimization of Atomic Transformations, **IEEE Transactions on Robotics (2021)** pp. 1–15, DOI: [https://doi.org/10.1109/TRO.2021.3062306](https://doi.org/10.1109/TRO.2021.3062306), 2021. [Bibtex](docs/bibtexs/Pedrosa2021TRO.bib). 



  - Aguiar, A., M. Oliveira, E. Pedrosa, and F. Santos, A Camera to LiDAR calibration approach through the Optimization of Atomic Transformations, **Expert Systems with Applications (2021)** p. 114894, ISSN: 0957-4174, DOI: [https://doi.org/10.1016/j.eswa.2021.114894](https://doi.org/10.1016/j.eswa.2021.114894), 2021. [Bibtex](docs/bibtexs/Aguiar2021ESWA.bib).



  - Oliveira, M., A. Castro, T. Madeira, E. Pedrosa, P. Dias, and V. Santos, A ROS framework for the extrinsic calibration of intelligent vehicles: A multi-sensor, multi-modal approach, **Robotics and Autonomous Systems (2020)** p. 103558, ISSN: 0921-8890, DOI: [https://doi.org/10.1016/j.robot.2020.103558](https://doi.org/10.1016/j.robot.2020.103558), 2020. [Bibtex](docs/bibtexs/Oliveira2020RAS.bib).



## Contributors



* Miguel Riem Oliveira - University of Aveiro

* Afonso Castro - University of Aveiro

* Eurico Pedrosa - University of Aveiro

* Tiago Madeira - University of Aveiro

* André Aguiar - INESC TEC

* Daniela Rato - University of Aveiro

* Manuel Gomes - University of Aveiro



## Maintainers



* Miguel Riem Oliveira - University of Aveiro

* Manuel Gomes - University of Aveiro