Geometric Calibration of Single-Pixel Distance Sensors
Published in IEEE Robotics and Automation Letters, 2022
We calibrated VL53L3CX and VL6180X time-of-flight sensors using ROS, Gazebo, and a UR5 robot arm. The method achieved positional accuracy of 3.18 mm and 7.29 mm and orientation accuracy of 0.61° and 2.01°. Validation through 3D scene reconstruction produced sub-2 mm residual errors on previously unseen planar objects.
Recommended citation: Carter Silverman, Dev Mehrotra, Mohit Gupta, Michael Gleicher. (2022). "Geometric Calibration of Single-Pixel Distance Sensors." IEEE Robotics and Automation Letters. 7(3).
Download Paper