Joint calibration 2012-12-03

Conference paper:

Andrea Censi, Luca Marchionni, and Giuseppe Oriolo. Simultaneous maximum-likelihood calibration of robot and sensor parameters. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Pasadena, CA, May 2008. pdfdoi video supp. material slidesbibtex

Journal paper:

Andrea Censi, Antonio Franchi, Luca Marchionni, and Giuseppe Oriolo. Simultaneous calibration of odometry and sensor parameters for mobile robots. IEEE Transactions on Robotics, 29(2):475–492, April 2013. pdfdoi supp. materialbibtex

Abstract -- Consider a differential-drive mobile robot equipped with an on-board exteroceptive sensor that can estimate its own motion, e.g., a range-finder. Calibration of this robot involves estimating six parameters: three for the odometry (radii and distance between the wheels), and three for the pose of the sensor with respect to the robot. After analyzing the observability of this problem, this paper describes a method for calibrating all parameters at the same time, without the need for external sensors or devices, using only the measurement of the wheels velocities and the data from the exteroceptive sensor. Moreover, the method does not require the robot to move along particular trajectories. Simultaneous calibration is formulated as a maximum-likelihood problem and the solution is found in a closed form. Experimental results show that the accuracy of the proposed calibration method is very close to the attainable limit.

Additional materials

The software and sensor logs is available for download:

A team of 5 Khepera robots with an hokuyo

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