Show simple item record

dc.contributor.authorZhang, Yinlong
dc.contributor.authorLiang, Wei
dc.contributor.authorYuan, Mingze
dc.contributor.authorHe, Hongsheng
dc.contributor.authorTan, Jindong
dc.contributor.authorPang, Zhibo
dc.identifier.citationZhang, Y., Liang, W., Yuan, M., He, H., Tan, J., & Pang, Z. (2022). Monocular visual-inertial and robotic-arm calibration in a unifying framework. IEEE/CAA Journal of Automatica Sinica, 9(1), 146-159. doi:10.1109/JAS.2021.1004290en_US
dc.descriptionClick on the DOI link to access the article (may not be free).en_US
dc.description.abstractReliable and accurate calibration for camera, inertial measurement unit (IMU) and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment perception. However, traditional calibrations suffer inaccuracy and inconsistency. To address these problems, this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying framework. In our method, the spatial relationship is geometrically correlated between the sensing units and robotic arm. The decoupled estimations on rotation and translation could reduce the coupled errors during the optimization. Additionally, the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and consistently. The calibration has been evaluated on our developed platform. In the experiments, the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7° and 0.01 m, respectively. The comparisons with state-of-the-art results prove our calibration consistency, accuracy and effectiveness.en_US
dc.relation.ispartofseriesIEEE/CAA Journal of Automatica Sinica;Vol., Iss. 1
dc.subjectMeasurement unitsen_US
dc.subjectRobot vision systemsen_US
dc.subjectPose estimationen_US
dc.subjectRobot sensing systemsen_US
dc.titleMonocular visual-inertial and robotic-arm calibration in a unifying frameworken_US
dc.rights.holderCopyright © 2022, IEEEen_US

Files in this item


There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record