Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników
2013 | Vol. 7, No. 2 | 39--45
Tytuł artykułu

Sensory system calibration method for a walking robot

Treść / Zawartość
Warianty tytułu
Języki publikacji
In this paper, a method for calibrating the sensory system of a walking robot is proposed. The robot is equipped with two exteroceptive sensors: a 2D laser scanner and a stereo camera. When using the CAD model of the robot, the positions of both sensors defined in the robot's body reference frame can only be determined with limited precision. Our goal is to create a method which allows the robot to find the position of the mounted sensors without the need for human input. The presented results show that the method is not only fast but also more precise than calibration using the CAD model.
Słowa kluczowe

Opis fizyczny
Bibliogr. 18 poz., rys.
  • Poznań University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznań, Poland, Dominik.
  • [1] D. Belter, P. Skrzypczyński, ,,Rough terrain mapping and classification for foothold selection in a walking robot", J. of Field Robotics, vol. 28(4), 2011, pp. 497-528.
  • [2] D. Belter, P. Skrzypczyński, ,,Precise Self-Localization of a Walking Robot on Rough Terrain Using PTAM", In: A. Azad et al. (eds.) Adaptive Mobile Robotics, World Scientif?ic, Singapore, 2012, pp. 89-96.
  • [3] O. Birbach, B. Bäuml, U. Frese, ,,Automatic and Self-Contained Calibration of a Multi-Sensorial Humanoid's Upper Body", In: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), Saint Paul, USA, 2012, pp. 3103-3108.
  • [4] J. Brookshire, S. Teller, ,,Automatic Calibration of Multiple Coplanar Sensors", Robotics: Science and Systems, 2011.
  • [5] D. A. Forsyth, J. Ponce, Computer Vision, a modern approach, Prentice Hall, 2003.
  • [6] J. Kennedy, R.C. Eberhart, ,,Particle swarm optimization", In: Proc. IEEE Int. Conf. on Neural Networks, Piscataway, Australia, 1995, pp. 1942-1948.
  • [7] G. Klein, D. Murray, ,,Parallel tracking and mapping for small AR workspaces", In: Int. Symp. On Mixed and Augmented Reality, Nara, Japan, 2007, pp. 225-234.
  • [8] J. Kelly, G. S. Sukhatme, ,,Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-Calibration", Int. J. Robotics Research, vol. 30(1), 2011, pp. 56-79.
  • [9] E. Krotkov, ,,Laser Rangefinder Calibration for a Walking Robot", In: IEEE Int. Conf. On Robotics and Automation, Sacramento, USA, 1991, pp. 2568-2573.
  • [10] P. Łabęcki, D. Rosiński, P. Skrzypczyński, ,,Terrain Map Building for a Walking Robot Equipped with an active 2D Range Sensor", Journal of Automation, Mobile Robotics & Intelligent Systems, vol. 5, no. 3, 2011, pp. 67-78.
  • [11] G. Li, Y. Liu, L. Dong, X. Cai, D. Zhou, ,,An Algorithm for Extrinsic Parameters Calibration of a Camera and a Laser Range Finder Using Line Features", In: IEEE Int. Conf. on Intelligent Robots and Systems, San Diego, USA, 2007, pp. 3854-3859.
  • [12] J. More, ,,The Levenberg-Marquardt algorithm: Implementation and theory", Numerical Analysis, vol. 630, 1978, pp. 105-116.
  • [13] K. Okada, S. Kagami, M. Inaba, H. Inoue, ,,Plane Segment Finder: Algorithm, Implementation and Applications", In: Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'00), 2000, pp 995-1001.
  • [14] G.G. Scandaroli, P. Morin, G.F. Silveira, ,,A nonlinear observer approach for concurrent estimation of pose, IMU Bias and camera-to-IMU rotation", In: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2011), San Francisco, USA, 2011, pp. 3335-3341.
  • [15] E. So, F. Basso, A. Pretto, E. Menegatti, ,,A unified approach to extrinsic calibration between a camera and a laser range finder using point-plane constraints", In: 1st Int. Workshop on Perception for Mobile Robots Autonomy, CD-ROM, 2012.
  • [16] S. Wasielewski, O. Strauss, ,,Calibration of a multi-sensor system laser rangefinder/camera", In: Proc. of IEEE Intelligent Vehicles '95 Symposium, Detroit, USA, 1995, pp. 472-477.
  • [17] F. Vasconcelos, J. Barreto, U. Nunes, ,,A Minimal Solution for the Extrinsic Calibration of a Camera and a Laser-Rangefinder", In: IEEE Trans. on Pattern Analysis and Machine Intelligence, vol. 34(11), 2012, pp. 2097-2107.
  • [18] Q. Zhang, R. Pless, ,,Extrinsic calibration of a camera and laser range finder (improves camera calibration)", In: IEEE Int. Conf. on Intelligent Robots and Systems, Sendai, Japan, 2004, pp. 2301-2306.
Typ dokumentu
Identyfikator YADDA
JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.