Sensory system calibration method for a walking robot

• Autorzy: Łabęcki P. , Belter D.
• Języki publikacji: EN

Abstrakty

EN

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

EN

extrinsic calibration; laser scanner; stereo; camera; walking robot

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2013
• Tom: Vol. 7, No. 2
• Strony: 39--45
• Opis fizyczny: Bibliogr. 18 poz., rys.

Twórcy

autor

Łabęcki P.

• Poznań University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznań, Poland

autor

Belter D.

• Poznań University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznań, Poland

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