Online Calibration Based on Laser-Encoder Odometry
نویسندگان
چکیده
Abstract This paper proposes a new online calibration method for the differential-drive mobile robot equipped with laser scanner. Our algorithm can jointly estimate 3-DoF extrinsic parameters of scanner and intrinsic (radii wheel spacing) kinematic model. Applying pre-integration theory initially developed IMU sensor to model, we adopt iterative nonlinear optimization minimize cost derived from encoder measurements. Experiments results confirm that proposed do precisely.
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ژورنال
عنوان ژورنال: Journal of physics
سال: 2023
ISSN: ['0022-3700', '1747-3721', '0368-3508', '1747-3713']
DOI: https://doi.org/10.1088/1742-6596/2520/1/012041