Simultaneous Mobile Robot Calibration using Iterative Linear Method

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Simultaneous localization and odometry self calibration for mobile robot

This paper presents both the theory and the experimental results of a method allowing simultaneous robot localization and odometry error estimation (both systematic and non-systematic) during the navigation. The estimation of the systematic components is carried out through an augmented Kalman filter, which estimates a state containing the robot configuration and the parameters characterizing t...

متن کامل

Simultaneous localization and odometry calibration for mobile robot

This paper presents both the theory and the first experimental results of a new method which allows simultaneously estimating of the robot configuration and the odometry error (both systematic and non-systematic) during the mobile robot navigation. The estimation of the non-systematic components is carried out through an augmented Kalman filter which estimates a state containing the robot confi...

متن کامل

Mobile Robot Localization Using Linear System Model

Localization is a fundamental problem for mobile robot autonomous navigation. EKF is an efficient tool for position estimation, but it suffers from linearization errors due to linear approximation of nonlinear system equations. In this paper we describe a position estimation method for mobile robot. Process and measurement equations are linear by appropriately constructing the state vector and ...

متن کامل

A Linear Iterative Method for Auto-Calibration using the DAC Equation

In this paper, an iterative algorithm for auto-calibration is presented. The proposed algorithm switches between linearly estimating the dual of the absolute conic and the intrinsic parameters, while also incorporating the rank-3 constraint on the intrinsic parameters. The most important property of the algorithm is that it is completely general in the sense that any type of constraint on the i...

متن کامل

Simultaneous robot-world and hand-eye calibration

Recently, Zhuang et al. [1] proposed a method that allows simultaneous computation of the rigid transformations from world frame to robot base frame and from hand frame to camera frame. Their method attempts to solve a homogeneous matrix equation of the formAX = ZB. They use quaternions to derive explicit linear solutions for X and Z. In this short paper, we present two new solutions that attem...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: The Journal of the Korea institute of electronic communication sciences

سال: 2015

ISSN: 1975-8170

DOI: 10.13067/jkiecs.2015.10.7.793