Title :
Mobile robot calibration
Author :
Young Yong Kim ; Mun-Ho Jeong ; Dong Joong Kang
Author_Institution :
Robot Vision · Intell. Lab., Kwangwoon Univ., Seoul, South Korea
Abstract :
The goal of this paper is simultaneous calibration of mobile robot which equipped the pan-tilt stereo camera. Mobile robot calibration can be divided to head-eye and wheel parameter calibration. The procedure of mobile robot calibration need a measurements given by odometry, pan-tilt stereo camera. Also, this method use the natural image features for the useful calibration. At first, we estimates a parameters of head-eye and wheel by the proposed method. Then, estimates are tuned by nonlinear optimization method for accuracy of calibration.
Keywords :
calibration; distance measurement; image sensors; mobile robots; optimisation; robot vision; stereo image processing; head-eye calibration; head-eye estimations; mobile robot calibration; natural image features; nonlinear optimization method; odometry; pan-tilt stereo camera; wheel parameter calibration; wheel parameter estimations; Calibration; Cameras; Mobile robots; Nickel; Robot vision systems; Wheels; Head-Eye Calibration; Mobile Robot; Optimization; Wheel Parameter;
Conference_Titel :
Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE
Conference_Location :
Vienna
DOI :
10.1109/IECON.2013.6700033
