Optical Mouse Array Position Calibration for Mobile Robot Velocity Estimation

This paper presents the position calibration of a polygonal array of optical mice for improved mobile robot velocity estimation using optical mice. First, the least squares velocity estimate of an omnidirectional mobile robot is obtained as the simple average of the velocity measurements from optical mice. Second, the sensitivity of the least squares velocity estimation to an imprecisely installed optical mouse array is analyzed. Third, with the aid of other accurate sensors, for example, wheel encoders, a simple but effective calibration for imperfect optical mouse array position is proposed. Finally, the position calibration of a regular triangular optical mouse array is given to demonstrate the effectiveness of the proposed method.