Calibration

6 transforms tracked·2 need attention·last sweep 6 d ago

Inferred extrinsics

transformΔ transΔ rotstate

Reprojection residual · camera_color → base_link

current · 2.1 px mean corrected · 0.4 px

Proposed experiment

40-pose target sweep · panda-01

Poses chosen to maximize information about the outstanding translation term. Estimated 8 minutes of rig time; expected residual after correction 0.4 px.

Information gain0.87
Rig time budget8 / 30 min

Fitted noise models

  • bosch_bmi088 · accelσ 0.021 m/s²

    gaussian + random-walk bias · 8,412 samples

  • bosch_bmi088 · gyroσ 0.0017 rad/s

    gaussian + random-walk bias · 8,412 samples

  • realsense_d435 · depthσ 2.1 mm @ 1 m

    range-dependent, quadratic · 1,180 features

  • rplidar_s2 · rangeσ 12 mm

    gaussian + dropout process · 26,900 returns

  • panda_fr3 · joint encσ 1.5e−5 rad

    quantization-limited · reference clock