Abstract
The relative pose transformation among several sensors in mobile robots has a certain impact on the pose estimation of the robot. The traditional hand-eye calibration works out the matrix transformation relationship between the camera coordinate system and the robot end effector or its base coordinate system. As for the household sweeping robot, which use monocular camera for localization and mapping. A novel method is proposed calibrating the chassis odometry and the top-view camera. First, we get chassis poses from wheel encoder and camera poses from Perspective-n-Point(PnP).Then we use two types of poses to solve the formula we build which is similar to hand-eye calibration. We make some tests to ensure this method is feasible.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
