ATOM is a set of calibration tools for multi-sensor, multi-modal, robotic systems, based on the optimization of atomic transformations as provided by a ROS based robot description.

https://github.com/lardemua/atom

Introduction

ATOM is a general methodology so it should be able to calibrate a vast spectrum of robotic system configurations. It is able to tackle classic configurations with fixed sensors, or hand-eye configurations with sensors positioned at the end-effector of robotic manipulators.

Currently, supported sensors are:

• RGB Cameras
• 3D LiDARs
• Depth cameras

Moreover, ATOM provides several scripts to facilitate all the steps of a calibration procedure. Available functionalities include:

• Creation and configuration of ATOM calibration packages
• Interactive positioning of sensors for setting initial estimate
• Interactive data labeling and collection
• Dataset review and manual correction of labels
• Calibration
• Several evaluation methods to assess the calibration

ATOM is extensively integrated into ROS, making use of several ROS features to implement nice functionalities.

How to use

For instructions on how to install and use, check the documentation:

https://lardemua.github.io/atom_documentation/

Report a Bug

Report bugs or request features on GitHub.