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ICRA
1999
IEEE

Online Self-Calibration for Mobile Robots

13 years 8 months ago
Online Self-Calibration for Mobile Robots
This paper proposes a statistical method for calibrating the odometry of mobile robots. In contrast to previous approaches, which require explicit measurements of actual motion when calibrating a robot's odometry, the algorithm proposed here uses the robot's sensors to automatically calibrate the robot as it operates. An efficient, incremental maximum likelihood algorithm enables the robot to adapt to changes in its kinematics on-line, as they occur. The appropriateness of the approach is demonstrated in two large-scale environments, where the amount of odometric error is reduced by an order of magnitude.
Nicholas Roy, Sebastian Thrun
Added 03 Aug 2010
Updated 03 Aug 2010
Type Conference
Year 1999
Where ICRA
Authors Nicholas Roy, Sebastian Thrun
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