Simultaneous maximum-likelihood calibration of odometry and sensor parameters

For a differential-drive mobile robot equipped with an on-board range sensor, there are six parameters to calibrate: three for the odometry (radii and distance between the wheels), and three for the pose of the sensor with respect to the robot frame. This paper describes a method for calibrating all six parameters at the same time, without the need for external sensors or devices. Moreover, it is not necessary to drive the robot along particular trajectories. The available data are the measures of the angular velocities of the wheels and the range sensor readings. The maximum-likelihood calibration solution is found in a closed form.