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Table 2 Attitude estimation of RMSE with multiple tags and the optimization result errors

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

Index Axes Multiple tags (RMSE) Optimization results
1 Yaw (°) 2.8339 1.9307
Pitch (°) 0.4180 0.4491
Roll (°) 0.9443 0.7802
2 Yaw (°) 2.7023 1.8842
Pitch (°) 0.3993 0.5832
Roll (°) 0.4032 0.3400
  1. The attitude is represented as Euler angles
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