English
 
User Manual Privacy Policy Disclaimer Contact us
  Advanced SearchBrowse

Item

ITEM ACTIONSEXPORT
  Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots

Censi, A., Franchi, A., Marchionni, L., & Oriolo, G. (2013). Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots. IEEE Transaction on Robotics, 29(2), 475-492. doi:10.1109/TRO.2012.2226380.

Item is

Basic

show hide
Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-B52C-F Version Permalink: http://hdl.handle.net/21.11116/0000-0001-45BF-B
Genre: Journal Article

Files

show Files

Locators

show
hide
Description:
-

Creators

show
hide
 Creators:
Censi, A, Author
Franchi, A1, 2, Author              
Marchionni, L, Author
Oriolo, G, Author
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

Content

show
hide
Free keywords: -
 Abstract: Consider a differential-drive mobile robot equipped with an on-board exteroceptive sensor that can estimate its own motion, e.g., a range-finder. Calibration of this robot involves estimating six parameters: three for the odometry (radii and distance between the wheels), and three for the pose of the sensor with respect to the robot. After analyzing the observability of this problem, this paper describes a method for calibrating all parameters at the same time, without the need for external sensors or devices, using only the measurement of the wheels velocities and the data from the exteroceptive sensor. The method does not require the robot to move along particular trajectories. Simultaneous calibration is formulated as a maximum-likelihood problem and the solution is found in a closed form. Experimental results show that the accuracy of the proposed calibration method is very close to the attainable limit given by the Cramér–Rao bound.

Details

show
hide
Language(s):
 Dates: 2013-01
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Method: -
 Identifiers: BibTex Citekey: CensiFMO2012
DOI: 10.1109/TRO.2012.2226380
 Degree: -

Event

show

Legal Case

show

Project information

show

Source 1

show
hide
Title: IEEE Transaction on Robotics
Source Genre: Journal
 Creator(s):
Affiliations:
Publ. Info: -
Pages: - Volume / Issue: 29 (2) Sequence Number: - Start / End Page: 475 - 492 Identifier: -