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
收藏
页码：694 / 697
页数：4
相关论文
共 50 条
  • [21] Calibration of Non-overlapping Cameras Based on a Mobile Robot
    Huang, Haifei
    Li, Nannan
    Guo, Huiwen
    Chen, Yen-Lun
    Wu, Xinyu
    [J]. 2015 5TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND TECHNOLOGY (ICIST), 2015, : 328 - 333
  • [22] LPS Self-Calibration Method using a Mobile Robot
    Urena, Jesus
    Ruiz, Daniel
    Carlos Garcia, Juan
    Hernandez, Alvaro
    Carmen Perez, Maria
    [J]. 2011 IEEE INTERNATIONAL INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE (I2MTC), 2011, : 1698 - 1703
  • [23] Research on algorithm of camera calibration based on polynomial for a mobile robot
    Yang, GS
    Yan, H
    Chen, LC
    Tan, M
    [J]. ISTM/2003: 5TH INTERNATIONAL SYMPOSIUM ON TEST AND MEASUREMENT, VOLS 1-6, CONFERENCE PROCEEDINGS, 2003, : 4483 - 4488
  • [24] On-line sensor calibration and localization for mobile robot navigation
    Kim, SD
    Chung, MJ
    [J]. MOBILE ROBOTS XI AND AUTOMATED VEHICLE CONTROL SYSTEMS, 1997, 2903 : 98 - 105
  • [25] Odometry calibration using home positioning function for mobile robot
    Yun, Youngmok
    Park, Byungjae
    Chung, Wan Kyun
    [J]. 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, : 2116 - +
  • [26] Self-calibration of environmental camera for mobile robot navigation
    Chen, Huiying
    Matsumoto, Kohsei
    Ota, Jun
    Arai, Tamio
    [J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2007, 55 (03) : 177 - 190
  • [27] <bold>Odometry Calibration of a Car-Like Mobile Robot</bold>
    Lee, Kooktae
    Chung, Woojin
    Chang, Hyo Whan
    Yoon, PalJoo
    [J]. 2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6, 2007, : 2348 - 2353
  • [28] Simultaneous Calibration and Mapping for Mobile Robot with Non-Holonomic Constraint
    Tang, Hengbo
    Liu, Yunhui
    Li, Luyang
    [J]. PROCEEDINGS OF THE 2016 12TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2016, : 1543 - 1549
  • [29] Mobile Robot Calibration Estimations of Head-eye & Wheel Parameters
    Kim, Young Yong
    Kang, Dong Joong
    Jeong, Mun-Ho
    [J]. 39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013), 2013, : 5504 - 5506
  • [30] A Practical Method for Camera Calibration in Stereo Vision Mobile Robot Navigation
    Hamzah, R. A.
    Abd Ghani, S. F.
    Kadmin, A. F.
    Aziz, K. A. A.
    [J]. 2012 IEEE STUDENT CONFERENCE ON RESEARCH AND DEVELOPMENT (SCORED), 2012,
12345