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Volume 23
Issue 7
10.3390/s23073740
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Article
Peer-Review Record

Motion-Based Extrinsic Sensor-to-Sensor Calibration: Effect of Reference Frame Selection for New and Existing Methods

Sensors 2023, 23(7), 3740; https://doi.org/10.3390/s23073740
by Tuomas Välimäki *, Bharath Garigipati and Reza Ghabcheloo
Reviewer 1: Anonymous
Reviewer 2:
Shun-qing Ren
Sensors 2023, 23(7), 3740; https://doi.org/10.3390/s23073740
Submission received: 2 March 2023 / Revised: 23 March 2023 / Accepted: 31 March 2023 / Published: 4 April 2023
(This article belongs to the Special Issue Sensor Based Perception for Field Robotics)

Round 1

Reviewer 1 Report

Authors study the effects of reference frame selection in sensor-to-sensor extrinsic calibration when formulated as a motion-based hand-eye calibration problem. They test different reference frames with different noise conditions, and validate the findings with real data from the KITTI dataset. They propose two nonlinear cost functions, where one of them incorporates outlier rejection to improve calibration performance and significantly improves performance in the presence of outliers. Both functions either match or outperform other algorithms in varying noise conditions. The authors show that with realistic noise, the reference frame selection method commonly used in literature is inferior to other tested options, and that relative error metrics are not reliable for telling which method achieves best calibration performance. I find this paper of interest for the scientific community and I recommend it for publication in MDPI Sensors after a minor revision. 

(a) What I am missing in the paper is clearer abstract and conclusions sections describing exactly what are the intended objectives of the research and what are the conclusions as well as how the results presented throughout the paper lead to these conclusions.  

Author Response

Thank you for the comments. (a) We have refined both the abstract and conclusions sections. The intended objective of the paper is now explicitly stated in both sections, and conclusion are now clearly linked to the performed experiments.

Reviewer 2 Report

 The best method of selecting the reference coordinate systems was expounded, and two nonlinear cost functions for optimization were proposed, and they are compared with four state-of-the-art methods.This paper is of great importance to enhance the sensor-to-seneor calibration precision.

Comments for author File: Comments.zip

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

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