Mobile robot calibration

Author

YoungYong Kim ; Mun-Ho Jeong ; Dong Joong Kang

Author_Institution

Control & Meas. Enginneering, Kwangwoon Univ., Seoul, South Korea

fYear

2013

fDate

20-23 Oct. 2013

Firstpage

694

Lastpage

697

Abstract

Purpose of head-eye calibration is to revise relative pose of robot with camera. Also The wheel parameters of mobile robot are very important factor which determines velocity and angular velocity. This paper shows simultaneously head-eye and wheel parameter calibration method of mobile robot which equipped pan-tilt stereo camera. At First, We calculate estimation value of head-eye and wheel parameters by closed-loop equation. Then the estimation value is optimized by nonlinear optimization method for accuracy of calibration.

Keywords

angular velocity control; calibration; image sensors; mobile robots; optimisation; pose estimation; robot vision; stereo image processing; angular velocity; closed-loop equation; estimation value; head-eye calibration; head-eye calibration method; mobile robot calibration; nonlinear optimization method; pan-tilt stereo camera; relative robot pose; wheel parameter calibration method; Artificial intelligence; Calibration; Estimation; Mobile communication; Robots; Head-Eye; Mobile Robot; Nonlinear Optimization; Wheel Parameters;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2013 13th International Conference on

Conference_Location

Gwangju

ISSN

2093-7121

Print_ISBN

978-89-93215-05-2

Type

conf

DOI

10.1109/ICCAS.2013.6703958

Filename

6703958