This paper presents a software package for the simulation and the realization of the calibration of the geometric parameters of robots. This package which is called GECARO, GEometric CAlibration of RObots, contains new methods which can carry out the calibration of the geometric parameters and the gain transmission ratios of serial robots without the need of external sensors. It contains also c...

AlignRT is a surface imaging system that has been utilized for localizing and tracking patient position during radiotherapy. AlignRT has two calibration procedures that can set the system's isocenter called "Monthly Calibration" (MC) and "Isocentre Calibration" (IC). The MC utilizes a calibration plate. In addition to the calibration plate, the IC utilizes a cubic phantom that is imaged with th...

In this paper, we present an extensive study about the influence and the behavior of the intrinsic camera calibration imprecisions and their propagation into the extrinsic calibration between a camera and a multi-layer lidar. Usually, the extrinsic calibration process involves the pose estimation of a reference object in the Cartesian frame of each sensor. From this fact, it is necessary to kno...

Abstract We present a new calibration method for a structured light surface scanner. The new method uses a model-based calibration, accounting for laser stripe and translation stage alignment and the internal and external camera parameters. The inclusion of non-linear radial distortion in the camera model gives an improvement in the calibration accuracy over a linear model. The method has been ...

The process of 3D freehand ultrasound acquisition consists of two steps: scanning and reconstruction. Prior to scanning, a position sensor is attached to the probe for tagging each image with its position and orientation in space. A crucial step prior to reconstruction and visualization is calibration of the ultrasound probe with the attached position sensor, i.e. determining the position and o...

Intelligent autonomous navigation in a large-scale and unknown indoor environment is an important problem in mobile robotics. For a car-like mobile robot with a racing car platform, the movement control concept is similar to that of a car. The autonomous features enable robots to control own motion without human interference. Three autonomous features are addressed in this thesis; obstacle avoi...

In the field of industrial robotics, many different calibration methods exist to reduce error in the robot system. Locating the manipulator home position is a common calibration technique, which can be divided into three main categories — relative, optimal and leveling based methods. The home position of an industrial manipulator is a position where all joint angles have a pre-defined value (e....