The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
권호 표지
DOI QR코드

DOI QR Code

Simultaneous Mobile Robot Calibration using Iterative Linear Method

선형 반복법에 의한 이동로봇의 동시 보정

  • Received : 2015.06.26
  • Accepted : 2015.07.23
  • Published : 2015.07.31
Download PDF
⟨ Previous Next ⟩

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.

이동 로봇 Pan-Tilt 기구부에 장착된 스테레오 카메라의 Head-Eye 보정 및 Wheel 보정을 동시에 수행하는 방법을 제안한다. 카메라가 이동로봇의 고정형 기구부에 장착되어있는 경우를 고려한 기존의 방법들은 최근 일반적인 이러한 시스템에 적용될 수 없다. 이러한 문제점을 해결하기 위하여 본 논문에서는 기존 방법을 바탕으로 한 선형 반복적인 방법을 고안하였다. 이것은 동시보정을 통한 효율성뿐만 아니라 정확도 면에서도 만족할만한 결과를 얻었다. 그리고 비선형 최적화 기법을 통해 보다 높은 정확도의 보정을 구현했다.

Keywords

References

  1. R.Y. Tsai, and R. K. Lenz, "A new technique for fully autonomous and efficient 3D robotics hand/eye calibration," Robotics and Automation, IEEE Trans., vol. 5, no. 3, 1989, pp. 345-358. https://doi.org/10.1109/70.34770
  2. Y. Chang, and J. K. Aggarwal. "Calibrating a mobile camera's extrinsic parameters with respect to its platform," In Proc. of IEEE Symp. on Intelligent Control, Arlington, USA, Aug. 1991, pp. 443-448.
  3. Z. Zhang, and O. D. Faugeras, "Calibration of a mobile robot with application to visual navigation," In Proc. IEEE Workshop on Visual Motion, Irvine, USA, Mar. 1989, pp. 306-313.
  4. Antonelli, Gianluca, and Stefano Chiaverini. "Linear estimation of the physical odometric parameters for differential-drive mobile robots," Autonomous Robots, vol. 23, no. 1, 2007, pp. 59-68. https://doi.org/10.1007/s10514-007-9030-2
  5. A. Gianluca, F. Caccavale, F. Grossi, and A. Marino, "Simultaneous calibration of odometry and camera for a differential drive mobile robot," Int. Conf. on Robotics and Automation, Anchorage, USA, May. 2010, pp. 5417-5422.
  6. B.K.P. Horn, "Closed-form solution of absolute orientation using unit quaternions," J. of Optical Soc. of America, vol. 4, no. 4, 1987, pp. 629-642. https://doi.org/10.1364/JOSAA.4.000629
  7. Press, William H., S. A. Teukolsky, W. T. Vetterling, and B. P. Flannery, Numerical recipes 3rd edition, Cambridge University Press, 2007.