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Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots

Censi, Andrea and Franchi, Antonio and Marchionni, Luca and Oriolo, Giuseppe (2013) Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots. IEEE Transactions on Robotics, 29 (2). pp. 475-492. ISSN 1552-3098.

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Consider a differential-drive mobile robot equipped with an on-board exteroceptive sensor that can estimate its own motion, e.g., a range-finder. Calibration of this robot involves estimating six parameters: three for the odometry (radii and distance between the wheels) and three for the pose of the sensor with respect to the robot. After analyzing the observability of this problem, this paper describes a method for calibrating all parameters at the same time, without the need for external sensors or devices, using only the measurement of the wheel velocities and the data from the exteroceptive sensor. The method does not require the robot to move along particular trajectories. Simultaneous calibration is formulated as a maximum-likelihood problem and the solution is found in a closed form. Experimental results show that the accuracy of the proposed calibration method is very close to the attainable limit given by the Cramér-Rao bound.

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Censi, Andrea0000-0001-5162-0398
Additional Information:© 2013 IEEE. Manuscript received July 16, 2012; accepted October 14, 2012. Date of publication March 21, 2013; date of current version April 1, 2013. This paper was recommended for publication by Associate Editor M. Minor and Editor W. K. Chung upon evaluation of the reviewers’ comments.
Subject Keywords:Differential-drive; extrinsic calibration; mobile robots; odometry calibration
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INSPEC Accession Number13413185
Issue or Number:2
Record Number:CaltechAUTHORS:20130521-081630001
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Official Citation:Censi, A.; Franchi, A.; Marchionni, L.; Oriolo, G., "Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots," Robotics, IEEE Transactions on , vol.29, no.2, pp.475,492, April 2013 doi: 10.1109/TRO.2012.2226380
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:38588
Deposited By: Tony Diaz
Deposited On:21 May 2013 16:57
Last Modified:09 Mar 2020 13:18

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