Determining the Robot-to-Robot 3D Relative Pose using Combinations of Range and Bearing Measurements (Part II)
In this paper, we address the problem of motioninduced 3D robot-to-robot extrinsic calibration based on different combinations of inter-robot measurements (i.e., distance and/or bearing observations) and ego-motion estimates, recorded across multiple time steps. In particular, we focus on solving minimal problems where the unknown 6-degreeof- freedom transformation between two robots is determined based on the minimum number of measurements necessary for finding a discrete set of solutions. In our previous work 1, we have shown that only 14 base systems need to be solved, and provided closed-form solutions for three of them. This paper considers the remaining systems and provides closed-form solutions to most of them, while for some of the most challenging problems, we introduce efficient symbolic-numerical solution methods. Finally, we evaluate the performance of our proposed solvers through extensive simulations.
Xun S. Zhou Stergios I. Roumeliotis
Department of Computer Science and Engineering,University of Minnesota,Minneapolis,MN,55455 USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4736-4743
2011-05-09(万方平台首次上网日期,不代表论文的发表时间)