A. Censi, L. Marchionni, G. Oriolo “Simultaneous maximum-likelihood calibration of robot and sensor parameters”, ICRA’08.
Abstract – For a differential-drive mobile robot equipped with an on-board range sensor, there are six parameters to calibrate: three for the odometry (radii and distance between the wheels), and three for the pose of the sensor with respect to the robot frame. This paper describes a method for calibrating all six parameters at the same time, without the need for external sensors or devices. Moreover, it is not necessary to drive the robot along particular trajectories. The available data are the measures of the angular velocities of the wheels and the range sensor readings. The maximum-likelihood calibration solution is found in a closed form.
@inproceedings{censi08calib,
author = {Andrea Censi and Luca Marchionni and Giuseppe Oriolo},
title = { Simultaneous maximum-likelihood calibration of robot and sensor parameters},
booktitle = {Proceedings of the {IEEE} International Conference
on Robotics and Automation ({ICRA})},
year = {2008},
month = {May},
address = {Pasadena, CA},
doi = {10.1109/ROBOT.2008.4543516},
url = "http://purl.org/censi/2007/calib",
pdf = "http://purl.org/censi/research/2008-icra-calibration.pdf"
}
The software and sensor logs is available for download:
Unfortunately the MPEG video does not work in QuickTime; while other players, such as VLC, MPlayer, Windows Media Player, should be OK.
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