DocumentCode
666580
Title
Mobile robot calibration
Author
Young Yong Kim ; Mun-Ho Jeong ; Dong Joong Kang
Author_Institution
Robot Vision · Intell. Lab., Kwangwoon Univ., Seoul, South Korea
fYear
2013
fDate
10-13 Nov. 2013
Firstpage
5504
Lastpage
5506
Abstract
The goal of this paper is simultaneous calibration of mobile robot which equipped the pan-tilt stereo camera. Mobile robot calibration can be divided to head-eye and wheel parameter calibration. The procedure of mobile robot calibration need a measurements given by odometry, pan-tilt stereo camera. Also, this method use the natural image features for the useful calibration. At first, we estimates a parameters of head-eye and wheel by the proposed method. Then, estimates are tuned by nonlinear optimization method for accuracy of calibration.
Keywords
calibration; distance measurement; image sensors; mobile robots; optimisation; robot vision; stereo image processing; head-eye calibration; head-eye estimations; mobile robot calibration; natural image features; nonlinear optimization method; odometry; pan-tilt stereo camera; wheel parameter calibration; wheel parameter estimations; Calibration; Cameras; Mobile robots; Nickel; Robot vision systems; Wheels; Head-Eye Calibration; Mobile Robot; Optimization; Wheel Parameter;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE
Conference_Location
Vienna
ISSN
1553-572X
Type
conf
DOI
10.1109/IECON.2013.6700033
Filename
6700033
Link To Document