Calibration and data integration of multiple optical flow sensors for mobile robot localization

Jwu-Sheng Hu*, Yung Jung Chang, Yu Lun Hsu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

This paper proposes a calibration method as well as a computational algorithm to integrate multiple optical flow sensors. Optical flow sensors offer a different kind of odometer as compared with the wheel encoder. Using multiple sensors, it is possible to reduce the effect of measurement uncertainties. Since all sensors are mounted on a rigid body, their measurement data must obey a certain relation. This relation is utilized in this paper and mathematical formulations are developed to realize the computation. It is shown that the calibration procedure can be cast as an optimization problem given enough measurement data. Further, the rigid-body relation is formulated as a null-space constraint using the calibrated parameters. During operation, unreliable sensor measurements can be removed by accessing the error distance to the null space. Simulation results are presented to support the proposed methods.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing, SUTC 2008
Pages464-469
Number of pages6
DOIs
StatePublished - 9 Sep 2008
Event2008 IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing, SUTC 2008 - Taichung, Taiwan
Duration: 11 Jun 200813 Jun 2008

Publication series

NameProceedings - IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing

Conference

Conference2008 IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing, SUTC 2008
CountryTaiwan
CityTaichung
Period11/06/0813/06/08

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    Hu, J-S., Chang, Y. J., & Hsu, Y. L. (2008). Calibration and data integration of multiple optical flow sensors for mobile robot localization. In 2008 IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing, SUTC 2008 (pp. 464-469). [4545803] (Proceedings - IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing). https://doi.org/10.1109/SUTC.2008.20