Sensor-based self-calibration of the iCub´s head

In this paper we propose techniques for the calibration of the iCub´s stereo head using vision and inertial measurements. Given that wear and tear can change the geometrical relationship between the different elements in the kinematic chain, new calibrations must be performed periodically. We propose methods that allow automatic calibration without the need for using external sensors or specially designed calibration objects. The methods can be applied at any time during the operation of the system, thus being an alternative for systems whose calibrations are imprecise or that require frequent recalibration. Results are shown both in simulations and on the iCub´s stereo head.