A Non-Iterative and effective procedure for simultaneous odometry and camera calibration for a differential drive mobile robot based on the singular value decomposition. Antonelli, G., Caccavale, F., Grossi, F., & Marino, A. INTELLIGENT SERVICE ROBOTICS, 3(3):163–173, 2010. doi abstract bibtex Differential-drive mobile robots are usually equipped with video cameras for navigation purposes. In order to ensure proper operational capabilities of such systems, several calibration steps are required to estimate the video-camera intrinsic and extrinsic parameters, the relative pose between the camera and the vehicle frame and the odometric parameters of the vehicle. In this paper, simultaneous estimation of the aforementioned quantities is achieved by a novel and effective calibration procedure. The proposed calibration procedure needs only a proper set of landmarks, on-board measurements given by the wheels encoders, and the camera (i.e., a number of properly taken camera snapshots of the set of landmarks). A major advantage of the proposed technique is that the robot is not required to follow a specific path: the vehicle is asked to roughly move around the landmarks and acquire at least three snapshots at some approximatively known configurations. Moreover, since the whole calibration procedure does not use external measurement devices, it can be used to calibrate, on-site, a team of mobile robots with respect to the same inertial frame, given by the position of the landmarks’ tool. Finally, the proposed algorithm is systematic and does not require any iterative step. Numerical simulations and experimental results, obtained by using a mobile robot Khepera III equipped with a low-cost camera, confirm the effectiveness of the proposed technique.
@article{
11580_14072,
author = {Antonelli, Gianluca and Caccavale, F. and Grossi, F. and Marino, Alessandro},
title = {A Non-Iterative and effective procedure for simultaneous odometry and camera calibration for a differential drive mobile robot based on the singular value decomposition},
year = {2010},
journal = {INTELLIGENT SERVICE ROBOTICS},
volume = {3},
abstract = {Differential-drive mobile robots are usually
equipped with video cameras for navigation purposes.
In order to ensure proper operational capabilities of such
systems, several calibration steps are required to estimate the
video-camera intrinsic and extrinsic parameters, the relative
pose between the camera and the vehicle frame and the odometric parameters of the vehicle. In this paper, simultaneous
estimation of the aforementioned quantities is achieved by
a novel and effective calibration procedure. The proposed
calibration procedure needs only a proper set of landmarks,
on-board measurements given by the wheels encoders, and
the camera (i.e., a number of properly taken camera snapshots of the set of landmarks). A major advantage of the
proposed technique is that the robot is not required to follow
a specific path: the vehicle is asked to roughly move around
the landmarks and acquire at least three snapshots at some
approximatively known configurations. Moreover, since the
whole calibration procedure does not use external measurement devices, it can be used to calibrate, on-site, a team of
mobile robots with respect to the same inertial frame, given
by the position of the landmarks’ tool. Finally, the proposed
algorithm is systematic and does not require any iterative step. Numerical simulations and experimental results,
obtained by using a mobile robot Khepera III equipped with
a low-cost camera, confirm the effectiveness of the proposed
technique.},
keywords = {Camera calibration; Odometry calibration; Mobile robots},
doi = {10.1007/s11370-010-0067-2},
pages = {163--173},
number = {3}
}
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In order to ensure proper operational capabilities of such systems, several calibration steps are required to estimate the video-camera intrinsic and extrinsic parameters, the relative pose between the camera and the vehicle frame and the odometric parameters of the vehicle. In this paper, simultaneous estimation of the aforementioned quantities is achieved by a novel and effective calibration procedure. The proposed calibration procedure needs only a proper set of landmarks, on-board measurements given by the wheels encoders, and the camera (i.e., a number of properly taken camera snapshots of the set of landmarks). A major advantage of the proposed technique is that the robot is not required to follow a specific path: the vehicle is asked to roughly move around the landmarks and acquire at least three snapshots at some approximatively known configurations. Moreover, since the whole calibration procedure does not use external measurement devices, it can be used to calibrate, on-site, a team of mobile robots with respect to the same inertial frame, given by the position of the landmarks’ tool. Finally, the proposed algorithm is systematic and does not require any iterative step. Numerical simulations and experimental results, obtained by using a mobile robot Khepera III equipped with a low-cost camera, confirm the effectiveness of the proposed technique.","keywords":"Camera calibration; Odometry calibration; Mobile robots","doi":"10.1007/s11370-010-0067-2","pages":"163–173","number":"3","bibtex":"@article{\n\t11580_14072,\n\tauthor = {Antonelli, Gianluca and Caccavale, F. and Grossi, F. and Marino, Alessandro},\n\ttitle = {A Non-Iterative and effective procedure for simultaneous odometry and camera calibration for a differential drive mobile robot based on the singular value decomposition},\n\tyear = {2010},\n\tjournal = {INTELLIGENT SERVICE ROBOTICS},\n\tvolume = {3},\n\tabstract = {Differential-drive mobile robots are usually\r\nequipped with video cameras for navigation purposes.\r\nIn order to ensure proper operational capabilities of such\r\nsystems, several calibration steps are required to estimate the\r\nvideo-camera intrinsic and extrinsic parameters, the relative\r\npose between the camera and the vehicle frame and the odometric parameters of the vehicle. In this paper, simultaneous\r\nestimation of the aforementioned quantities is achieved by\r\na novel and effective calibration procedure. The proposed\r\ncalibration procedure needs only a proper set of landmarks,\r\non-board measurements given by the wheels encoders, and\r\nthe camera (i.e., a number of properly taken camera snapshots of the set of landmarks). A major advantage of the\r\nproposed technique is that the robot is not required to follow\r\na specific path: the vehicle is asked to roughly move around\r\nthe landmarks and acquire at least three snapshots at some\r\napproximatively known configurations. Moreover, since the\r\nwhole calibration procedure does not use external measurement devices, it can be used to calibrate, on-site, a team of\r\nmobile robots with respect to the same inertial frame, given\r\nby the position of the landmarks’ tool. Finally, the proposed\r\nalgorithm is systematic and does not require any iterative step. 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