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http://dx.doi.org/10.13067/JKIECS.2015.10.7.793

Simultaneous Mobile Robot Calibration using Iterative Linear Method  

Kim, Young-Yong (KIST 로봇미디어 연구소)
Jeong, Mun-Ho (광운대학교 로봇학부)
Publication Information
The Journal of the Korea institute of electronic communication sciences / v.10, no.7, 2015 , pp. 793-800 More about this Journal
Abstract
We presented a method to perform simultaneously both head-eye calibration and wheel calibration for a mobile robot that has a stereo camera mounted on the pan-tilt mechanism. Such a mobile robot system prevails recently. However, conventional methods are not applicable to this system because they assumed that camera systems were mounted on fixed structures. Building on conventional methods, we devised an iterative linear solution to solve the problem, and achieved satisfactory results in terms of accuracy in addition to efficiency due to simultaneous calibration. Furthermore, the calibration accuracy was improved by nonlinear optimization.
Keywords
Simultaneous Mobile Robot Calibration; Head-Eye Calibration; Wheel Calibration; Iterative Linear Method;
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