This paper presents a case study of the use of a repeated single-criterion card sort with an unusually large, diverse participant group. The study, whose goal was to elicit novice programmers' knowledge of programming concepts, involved over

We propose an automatic, targetless, data-driven, extrinsic calibration method to calibrate push-broom 2D lidars with a multi-camera system. The calibration problem is decoupled into alternating optimisers over two hierarchical levels, where both levels are linked with a penalty term. The lower-level optimises the six degrees-of-freedom (DoF) rigidbody transforms between the lidar and each camera of the multi-camera unit by minimising the Normalised Information Distance between intensity measurements obtained from both sensor modalities. The upper-level minimises a nonlinear least squares error between the lower-level solutions. We describe the theory, implement the method, and provide a detailed performance analysis with experiments on real-world data.

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