Abstract
This paper proposes a new online calibration method for the differential-drive mobile robot equipped with a laser scanner. Our algorithm can jointly estimate the 3-DoF extrinsic parameters of the laser scanner and the intrinsic parameters (radii and wheel spacing) of the differential-drive kinematic model. Applying the pre-integration theory initially developed the for IMU sensor to the differential-drive kinematic model, we adopt iterative nonlinear optimization to minimize the cost derived from laser and encoder measurements. Experiments results confirm that the proposed method can do online calibration precisely.
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