NDLI: EKF-based visual self-calibration tool for robots with rotating directional cameras

Content Provider	IEEE Xplore Digital Library
Author	Ribeiro, J. Serra, R. Nunes, N. Silva, H. Almeida, J.
Copyright Year	2013
Description	Author affiliation: INESC TEC - INESC Technol. & Sci., Polytech. Inst. of Porto, Porto, Portugal (Ribeiro, J.; Serra, R.; Nunes, N.; Silva, H.; Almeida, J.)
Abstract	Autonomous mobile robots perception systems are complex multi-sensors systems. Information from different sensors, placed in different parts of the platforms, need to be related and fused into some representation of the world or robot state. For that, the knowledge of the relative pose (position and rotation) between sensors frames and the platform frame plays a critical role. The process to determine those is called extrinsic calibration. This paper addresses the development of automatic robot calibration tool for Middle Size League Robots with rotating directional cameras, such as the ISePorto team robots. The proposed solution consists on a robot navigating in a path, while acquiring visual information provided by a known target positioned in a global reference frame. This information is then combined with wheel odometry sensors, robot rotative axis encoders and gyro information within an Extend Kalman filter framework, that estimates all parameters required for the sensors angles and position determination related to the robot body frame. We evaluated our solution, by performing several trials and obtaining similar results to the previous used manual calibration procedure, but with a much less time consuming performance and also without being susceptible to human error.
Starting Page	1
Ending Page	6
File Size	377441
Page Count	6
File Format	PDF
e-ISBN	9781479912476
DOI	10.1109/Robotica.2013.6623538
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-04-24
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot vision systems Cameras Calibration Mobile robots Mathematical model
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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