Mobile robot calibration

Abstract

Purpose of head-eye calibration is to revise relative pose of robot with camera. Also The wheel parameters of mobile robot are very important factor which determines velocity and angular velocity. This paper shows simultaneously head-eye and wheel parameter calibration method of mobile robot which equipped pan-tilt stereo camera. At First, We calculate estimation value of head-eye and wheel parameters by closed-loop equation. Then the estimation value is optimized by nonlinear optimization method for accuracy of calibration.