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Table 1 Position estimation of RMSE with multiple estimations by multiple tags

From: AprilTag array-aided extrinsic calibration of camera–laser multi-sensor system

Index Axes Multiple tags (RMSE) Optimization results
1 X (m) 0.034 0.020
Y (m) 0.020 0.003
Z (m) 0.025 0.021
2 X (m) 0.020 0.013
Y (m) 0.018 0.001
Z (m) 0.009 0.008
3 X (m) 0.069 0.069
Y (m) 0.008 0.008
Z (m) 0.017 0.010
4 X (m) 0.018 0.011
Y (m) 0.019 0.002
Z (m) 0.012 0.009
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