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

Volume

4

fYear

1998

fDate

16-20 May 1998

Firstpage

3141

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.680908

Filename

680908