Mobile Robot Calibration

被引：0

作者：

Kim, YoungYong ^{[1
]}

Jeong, Mun-Ho ^{[1
]}

Kang, Dong Joong ^{[2
]}

机构：

[1] Kwangwoon Univ, Control & Measurement Engn, Seoul, South Korea

[2] Pusan Natl Univ, Mech Engn, Pusan, South Korea

来源：

2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013) | 2013年

关键词：

Mobile Robot; Head-Eye; Wheel Parameters; Nonlinear Optimization;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：694 / 697

页数：4

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