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ICRA
2009
IEEE

Local decomposition and observability properties for automatic calibration in mobile robotics

9 years 6 months ago
Local decomposition and observability properties for automatic calibration in mobile robotics
Abstract— This paper considers the problem of sensor selfcalibration in mobile robotics by only using a single point feature (e.g. a source of light). In particular, the problem of determining the extrinsic parameters of a bearing sensor mounted on a mobile platform (e.g. a camera) and simultaneously estimating the parameters describing the systematic error in the odometry system is discussed. Special attention is devoted to investigate the dependence of the observability properties of these parameters on the chosen robot trajectory. The main contribution provided by this paper is the introduction of a new method to deal with estimation problems in the framework of mobile robotics. Specifically, a calibration problem has been considered. However, the same method can be adopted to solve other fundamental estimation problems. The method is based on the theory of distributions which exploits all the system Lie symmetries. Regarding the considered calibration problem this method allows ...
Agostino Martinelli
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Agostino Martinelli
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