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Monocular Visual-In...
Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework
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- Zhang, Yinlong (författare)
- Shenyang Inst Automat, Chinese Acad Sci, Key Lab Networked Control Syst, Shenyang 110016, Liaoning, Peoples R China.;Shenyang Inst Automat, Chinese Acad Sci, State Key Lab Robot, Shenyang 110016, Liaoning, Peoples R China.;Inst Robot & Intelligent Mfg, Chinese Acad Sci, Shenyang 110169, Liaoning, Peoples R China.
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- Liang, Wei (författare)
- Shenyang Inst Automat, Chinese Acad Sci, Key Lab Networked Control Syst, Shenyang 110016, Liaoning, Peoples R China.;Shenyang Inst Automat, Chinese Acad Sci, State Key Lab Robot, Shenyang 110016, Liaoning, Peoples R China.;Inst Robot & Intelligent Mfg, Chinese Acad Sci, Shenyang 110169, Liaoning, Peoples R China.
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- Yuan, Mingze (författare)
- Shenyang Inst Automat, Chinese Acad Sci, Key Lab Networked Control Syst, Shenyang 110016, Liaoning, Peoples R China.;Shenyang Inst Automat, Chinese Acad Sci, State Key Lab Robot, Shenyang 110016, Liaoning, Peoples R China.;Inst Robot & Intelligent Mfg, Chinese Acad Sci, Shenyang 110169, Liaoning, Peoples R China.
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- He, Hongsheng (författare)
- Wichita State Univ, Sch Comp, Wichita, KS 67260 USA.
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- Tan, Jindong (författare)
- Univ Tennessee, Dept Mech Aerosp & Biomed Engn, Knoxville, TN 37996 USA.
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- Pang, Zhibo (författare)
- KTH,Elkraftteknik,Teknisk informationsvetenskap,ABB Corp Res Sweden, Dept Automat Technol, S-72178 Västerås, Sweden.
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Shenyang Inst Automat, Chinese Acad Sci, Key Lab Networked Control Syst, Shenyang 110016, Liaoning, Peoples R China;Shenyang Inst Automat, Chinese Acad Sci, State Key Lab Robot, Shenyang 110016, Liaoning, Peoples R China.;Inst Robot & Intelligent Mfg, Chinese Acad Sci, Shenyang 110169, Liaoning, Peoples R China. Wichita State Univ, Sch Comp, Wichita, KS 67260 USA. (creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2022
- 2022
- Engelska.
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Ingår i: IEEE/CAA journal of automatica sinica. - : Institute of Electrical and Electronics Engineers (IEEE). - 2329-9266. ; 9:1, s. 146-159
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- Reliable and accurate calibration for camera, inertial measurement unit (IMU) and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment perception. However, traditional calibrations suffer inaccuracy and inconsistency. To address these problems, this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying framework. In our method, the spatial relationship is geometrically correlated between the sensing units and robotic arm. The decoupled estimations on rotation and translation could reduce the coupled errors during the optimization. Additionally, the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and consistently. The calibration has been evaluated on our developed platform. In the experiments, the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7 degrees and 0.01 m, respectively. The comparisons with state-of-the-art results prove our calibration consistency, accuracy and effectiveness.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)
Nyckelord
- Calibration
- inertial measurement unit (IMU)
- monocular camera
- robotic arm
- spiral moving trajectory
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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