NDLI: Whole-body self-calibration via graph-optimization and automatic configuration selection

Content Provider	IEEE Xplore Digital Library
Author	Maier, D. Wrobel, S. Bennewitz, M.
Copyright Year	2015
Description	Author affiliation: Humanoid Robots Lab., Univ. of Freiburg, Freiburg, Germany (Maier, D.; Wrobel, S.; Bennewitz, M.)
Abstract	In this paper, we present a novel approach to accurately calibrate the kinematic model of a humanoid based on observations of its monocular camera. Our technique estimates the parameters of the complete model, consisting of the joint angle offsets of the whole body including the legs, as well as the camera extrinsic and intrinsic parameters. We cast the parameter estimation as a least-squares optimization problem. In the error function, we consider the residuals between camera observations of end-effector markers and their projections into the image based on the estimate of the calibration parameters. Furthermore, we developed an approach to automatically select a subset of configurations for the calibration process that yields a good trade-off between the number of observations and accuracy. As the experiments with a Nao humanoid show, we achieve an accurate calibration for this low-cost platform. Further, our approach to configuration selection yields substantially better optimization results compared to randomly chosen viable configurations. Hence, our system only requires a reduced number of configurations to achieve accurate results. Our optimization is general and the implementation, which is available online, can easily be applied to different humanoids.
Starting Page	5662
Ending Page	5668
File Size	1678847
Page Count	7
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139992
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Calibration Cameras Joints Robot vision systems Kinematics Optimization
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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