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 |