Photogrammetric calibration of a mobile robot model

Author

McNamee, Louis P. ; Petrin, E.M. ; Spoelder, Hans J W

Author_Institution

Sch. of Inf. Technol. & Eng., Ottawa Univ., Ont., Canada

Volume

1

fYear

2001

fDate

21-23 May 2001

Firstpage

245

Abstract

A nonintrusive methodology to calibrate kinematic models for wheeled mobile robots is proposed The calibration process begins with photogrammetric measurement of robot trajectories for known control inputs. Measurement is achieved with a low cost CCD camera. The camera is calibrated using a modified form of Tsai´s direct linear transform based algorithm. The robot kinematic state is determined from a sequence of video data using a modified version of Lowe´s pose recovery algorithm. A derivative free form of the extended Kalman filter is used to estimate parameters for a known model from the time series kinematic data. Experimental results are presented for differential wheeled mobile robot configuration

Keywords

CCD image sensors; active vision; adaptive Kalman filters; adaptive estimation; calibration; mobile robots; nonlinear estimation; parameter estimation; photogrammetry; robot kinematics; time series; video signal processing; adaptive image processing algorithm; derivative free form; direct linear transform based algorithm; extended Kalman filter; kinematic models; known control inputs; low cost CCD camera; mobile robot model; model space; nonintrusive methodology; nonlinear estimator; parameter estimation; photogrammetric calibration; pose recovery algorithm; robot trajectories; time series kinematic data; video data sequence; wheeled mobile robots; Calibration; Cameras; Information technology; Mobile robots; Orbital robotics; Parameter estimation; Robot kinematics; Robot sensing systems; Robot vision systems; System identification;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation and Measurement Technology Conference, 2001. IMTC 2001. Proceedings of the 18th IEEE

Conference_Location

Budapest

ISSN

1091-5281

Print_ISBN

0-7803-6646-8

Type

conf

DOI

10.1109/IMTC.2001.928820

Filename

928820