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

研究成果: Conference contribution同行評審

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2008 IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing, SUTC 2008
頁面464-469
頁數6
DOIs
出版狀態Published - 9 九月 2008
事件2008 IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing, SUTC 2008 - Taichung, Taiwan
持續時間: 11 六月 200813 六月 2008

出版系列

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

Conference

Conference2008 IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing, SUTC 2008
國家Taiwan
城市Taichung
期間11/06/0813/06/08

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