Name
Abstract | ||
|---|---|---|
In this paper, we provide a study of motion-induced 3-D extrinsic calibration based on robot-to-robot sensor measurements. In particular, we introduce algebraic methods to compute the relative translation and rotation between two robots using known robot motion and robot-to-robot (1) distance and bearing, (2) bearing-only, and (3) distance-only measurements. We further conduct a nonlinear observability analysis and provide sufficient conditions for the 3-D relative position and orientation (pose) to become locally weakly observable. Finally, we present a nonlinear weighted least-squares estimator to refine the algebraic pose estimate in the presence of noise. We use simulations to evaluate the performance of our methods in terms of accuracy and robustness. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/TRO.2010.2042539 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
calibration,least squares approximations,mobile robots,pose estimation,robot dynamics,sensor arrays,3D extrinsic calibration,3D relative orientation,3D relative position,algebraic pose estimate,nonlinear observability analysis,nonlinear weighted least squares estimator,robot motion,robot to robot bearing measurement,robot to robot distance measurement,robot to robot sensor measurement,robustness,3-D extrinsic calibration,Cooperative localization | Observability,Nonlinear system,Control theory,Control engineering,Pose,Robustness (computer science),Observer (quantum physics),System identification,Mathematics,Mobile robot,Estimator | Journal |
Volume | Issue | ISSN |
26 | 2 | 1552-3098 |
Citations | PageRank | References |
24 | 1.13 | 27 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nikolas Trawny | 1 | 36 | 2.29 |
| Xun S. Zhou | 2 | 89 | 3.85 |
| Ke Zhou | 3 | 27 | 1.54 |
| Stergios I. Roumeliotis | 4 | 1034 | 72.98 |