Automatic Multi-Sensor Extrinsic Calibration For Mobile Robots
نویسندگان
چکیده
منابع مشابه
Extrinsic and Intrinsic Sensor Calibration
Sensor Calibration is the process of determining the intrinsic (e.g., focal length) and extrinsic (i.e., position and orientation (pose) with respect to the world, or to another sensor) parameters of a sensor. This task is an essential prerequisite for many applications in robotics, computer vision, and augmented reality. For example, in the field of robotics, in order to fuse measurements from...
متن کاملExtrinsic Rgb-d Camera Calibration for Legged Robots
This paper describes a method to identify the extrinsic parameters of RGB-D cameras mounted on legged robots. Since the calculation of the parameters is based on the detection of the robots feet in the camera images, no special calibration objects are required. Therefore the method is simple to use and can even be applied automatically. Experiments demonstrate the precision and the robustness o...
متن کاملA New Approach to Self-Localization for Mobile Robots Using Sensor Data Fusion
This paper proposes a new approach for calibration of dead reckoning process. Using the well-known UMBmark (University of Michigan Benchmark) is not sufficient for a desirable calibration of dead reckoning. Besides, existing calibration methods usually require explicit measurement of actual motion of the robot. Some recent methods use the smart encoder trailer or long range finder sensors such ...
متن کاملExtrinsic Calibration from Per-Sensor Egomotion
We show how to recover the 6-DOF transform between two sensors mounted rigidly on a moving body, a form of extrinsic calibration useful for data fusion. Our algorithm takes noisy, per-sensor incremental egomotion observations (i.e., incremental poses) as input and produces as output an estimate of the maximum-likelihood 6-DOF calibration relating the sensors and accompanying uncertainty. The 6-...
متن کاملOnline Self-Calibration for Mobile Robots
This paper proposes a statistical method for calibrating mobile robots. In contrast to previous approaches, which require explicit measurements of actual motion when calibrating a robot, the algorithm proposed here uses the robot’s sensors to automatically calibrate the robot as it operates. An efficient, incremental maximum likelihood algorithm enables the robot to adapt to changes in its kine...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2019
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2019.2922618