Title :
An automatic calibration method for a multisensor system: application to a mobile robot localization system
Author :
Von der Hardt, Hans-Joachim ; Husson, René ; Wolf, Didier
Author_Institution :
Centre de Recherche en Autom. de Nancy, Vandoeuvre, France
Abstract :
This paper describes an automatic calibration method for a multisensor system. Redundancy of sensor measurements is exploited in order to identify a priori unknown system parameters. The calibration method presented does not need any external reference, but is only based on constraint functions which describe the relations existing between the different sensor outputs. An application to a mobile robot dead reckoning localization system is developed, and validated by some experimental results
Keywords :
calibration; compasses; gyroscopes; mobile robots; navigation; parameter estimation; path planning; position control; redundancy; sensor fusion; automatic calibration; constraint functions; dead reckoning; gyroscope; localization system; magnetic compass; mobile robot; multisensor system; odometry; parameter estimation; redundancy; sensor fusion; Calibration; Dead reckoning; Kalman filters; Least squares approximation; Mobile robots; Multisensor systems; Redundancy; Sensor fusion; Sensor systems; State estimation;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680908
