Autonomous Wheels And Camera Calibration In Duckietown Project

摘要

After assembling the robot, it is necessary to calibrate its components such as camera and wheels for example. This requires human participation and depends on human factors. The article describes the approach to fully automatic calibration of the camera and the wheels of the robot. It consists in placing the robot in an inaccurate position, but in a pre-marked area and using data from the camera, information about the configuration of the environment. As well as the ability to move, to perform calibration without the participation of external observers or human participation. There are 2 stages: camera and wheels calibration. Camera calibration collects the necessary set of images by automatically moving the robot in front of the fiducial markers template, and moving the robot on the marked floor with an estimation of the curvature of the trajectory. Proposed approach was experimentally tested on the duckietown project base.