Title :
Mobile robot calibration
Author :
YoungYong Kim ; Mun-Ho Jeong ; Dong Joong Kang
Author_Institution :
Control & Meas. Enginneering, Kwangwoon Univ., Seoul, South Korea
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;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2013 13th International Conference on
Conference_Location :
Gwangju
Print_ISBN :
978-89-93215-05-2
DOI :
10.1109/ICCAS.2013.6703958
