Problem Statement

This project is aimed at estimating relative extrinsic of a stereo camera of a ground robot. This needs to be done in an onlineĀ  setting while the robot is operational in the real world as opposed to offline calibration using a chessboard. Such online calibration can increase robot deployment time and make the robot robust to deviations in camera parameters occurring due to physical factors like minor collisions or thermal expansion of theĀ stereo camera rig.