Technique for calibrating an omnidirectional sensor

Author

Cauchois, Cyril ; Brassart, Eric ; Pegard, Claude ; Clerentin, Arnaud

Author_Institution

GRACSY, Amiens, France

Volume

1

fYear

1999

fDate

1999

Firstpage

166

Abstract

In this paper we present a method to calibrate our omnidirectional sensor named SYCLOP (“Conic System for Localization and Perception”). Actually this sensor is installing on the mobile robot SARAH, and it is able to rake a panoramic image of the environment. From this image we can localize the mobile robot using natural beacon detection. In order to have a better precision in beacons detection than that obtained in classical applications using this kind of sensors, we bring to the fore the importance of calibration for the whole sensor. We will show to the end of this paper different result obtained in real trajectory

Keywords

calibration; image sensors; mobile robots; position measurement; robot vision; SARAH; SYCLOP; conic system; localization; mobile robot; natural beacon detection; omnidirectional sensor calibration; perception; Calibration; Cameras; Computational modeling; Image sensors; Machine vision; Mobile robots; Optical distortion; Optical sensors; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on

Conference_Location

Kyongju

Print_ISBN

0-7803-5184-3

Type

conf

DOI

10.1109/IROS.1999.812999

Filename

812999