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Simultaneous maximum-likelihood calibration of odometry and sensor parameters

Censi, Andrea and Marchionni, Luca and Oriolo, Giuseppe (2008) Simultaneous maximum-likelihood calibration of odometry and sensor parameters. In: 2008 IEEE International Conference on Robotics and Automation. IEEE , pp. 2098-2103. ISBN 978-1-4244-1646-2. https://resolver.caltech.edu/CaltechAUTHORS:20100512-152715150

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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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ROBOT.2008.4543516DOIUNSPECIFIED
http://ieeexplore.ieee.org/search/srchabstract.jsp?tp=&arnumber=4543516&queryText%3DSimultaneous+maximum-likelihood+calibration+of+odometry+and+sensor+parameters%26openedRefinements%3D*%26searchField%3DSearch+AllPublisherUNSPECIFIED
ORCID:
AuthorORCID
Censi, Andrea0000-0001-5162-0398
Additional Information:© 2008 IEEE. Issue Date: 19-23 May 2008; Date of Current Version: 13 June 2008.
Subject Keywords:angular velocities measurement, differential-drive mobile robot, distance calibration, odometry, on-board range sensor, radii calibration, range sensor readings, sensor parameters, simultaneous maximum-likelihood calibration
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INSPEC Accession Number10014276
Record Number:CaltechAUTHORS:20100512-152715150
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20100512-152715150
Official Citation:Censi, A.; Marchionni, L.; Oriolo, G.; , "Simultaneous maximum-likelihood calibration of odometry and sensor parameters," Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on , vol., no., pp.2098-2103, 19-23 May 2008 doi: 10.1109/ROBOT.2008.4543516 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4543516&isnumber=4543169
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:18275
Collection:CaltechAUTHORS
Deposited By: Jason Perez
Deposited On:01 Jun 2010 16:33
Last Modified:09 Mar 2020 13:18

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