Abstract
In many areas of experimental science ranging from robotics to psychophysical research, to evaluation of spatial sensor-data and surveying, model fitting is a ubiquitous subproblem. Often it is not the actual scientific goal but rather the “necessary evil” of calibrating the equipment. This tutorial introduces methodology and a library allowing to solve model fitting problems easily without requiring the user to have an in-depth understanding of this subject.
After a brief introduction to the theoretical background we guide the reader through using all main features of the SLoM C++ framework based on a stereo camera and inertial measurement unit (IMU) calibration example which is solved with less than 70 lines of non-problem specific code, and provide hints on applying SLoM to other classes of problems.
The reader is only assumed to have a working knowledge of C++ and a basic understanding of statistics and 3D geometry.
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Hertzberg, C., Wagner, R., Frese, U. (2012). Tutorial on Quick and Easy Model Fitting Using the SLoM Framework. In: Stachniss, C., Schill, K., Uttal, D. (eds) Spatial Cognition VIII. Spatial Cognition 2012. Lecture Notes in Computer Science(), vol 7463. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32732-2_8
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DOI: https://doi.org/10.1007/978-3-642-32732-2_8
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