# Lollypop: Camera-to-Motion-Capture Calibration Verification with a Reference Target

arXiv: https://arxiv.org/abs/2610.04785 · HTML: https://mlsanity.com/paper/2610.04785/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 10 references that are in the map.
- First posted on arXiv 3 Oct 2026.

## Builds on (most cited first, 1 of 1)

- [The TUM VI Benchmark for Evaluating Visual-Inertial Odometry](https://mlsanity.com/paper/1804.06120/) (2018)

## Abstract (arXiv)

Camera-to-motion-capture (mocap) calibration is essential for using mocap as ground truth in robotics, AR/VR, and other computer vision tasks. However, the calibration can drift after deployment, while calibration residuals and visual inspection provide limited independent verification. We present Lollypop, a fiducial-mocap reference target for independent calibration verification. The target couples an ArUco fiducial with a mocap marker constellation so the visual center and tracked centroid represent the same physical point. Given a candidate calibration, verification projects the mocap point into the image and measures its disagreement with the detected fiducial center. Experiments show sub-pixel nominal error, sensitivity to controlled extrinsic perturbations, and increasing error during an illustrative mixed-handling sequence.