NDLI: A new sensor self-calibration framework from velocity measurements

Content Provider	IEEE Xplore Digital Library
Author	Kermorgant, O. Folio, D. Chaumette, F.
Copyright Year	2010
Description	Author affiliation: INRIA Rennes-Bretagne Atlantique, Campus de Beaulieu, France (Kermorgant, O.; Chaumette, F.) \|\| PRISME, Université d'Orléans, France (Folio, D.)
Abstract	In this paper we propose a new on-line sensor self-calibration framework. The approach is to consider the sensor/robot interaction that links the sensor signal variations to the robot velocity. By on-line calibration, we mean only the actual measurements are used to perform calibration under the condition that the interaction matrix is analytically known. This allows us to propose a very simple and versatile formulation of sensor parameter calibration. Various sensors can be considered, and calibration from different sensory data may be considered within the same process. Intrinsic and extrinsic parameters estimation are formulated as a non-linear minimization problem the jacobian of which can be expressed analytically from the sensor model. Simulations and experiments are presented for a camera observing four points, showing good results in the case of separated intrinsic and extrinsic calibration, and illustrating the possible limitations in the case of simultaneous estimation.
Starting Page	1524
Ending Page	1529
File Size	822221
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509219
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Velocity measurement Calibration Robot sensing systems Sensor phenomena and characterization Cameras Robot vision systems Robotics and automation Jacobian matrices Parameter estimation Robot motion visual servoing self-calibration
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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