TY - GEN
T1 - Calibration and data integration of multiple optical flow sensors for mobile robot localization
AU - Hu, Jwu-Sheng
AU - Chang, Yung Jung
AU - Hsu, Yu Lun
PY - 2008/9/9
Y1 - 2008/9/9
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=50949129976&partnerID=8YFLogxK
U2 - 10.1109/SUTC.2008.20
DO - 10.1109/SUTC.2008.20
M3 - Conference contribution
AN - SCOPUS:50949129976
SN - 9780769531588
T3 - Proceedings - IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing
SP - 464
EP - 469
BT - 2008 IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing, SUTC 2008
Y2 - 11 June 2008 through 13 June 2008
ER -