期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 26, 期 2, 页码 226-243出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2010.2042539
关键词
Cooperative localization; 3-D extrinsic calibration
类别
资金
- University of Minnesota (Digital Technology Center)
- National Science Foundation [IIS-0643680, Grant IIS-0811946, Grant IIS-0835637]
In this paper, we provide a study of motion-induced 3-D extrinsic calibration based on robot-to-robot sensor measurements. In particular, we introduce algebraic methods to compute the relative translation and rotation between two robots using known robot motion and robot-to-robot 1) distance and bearing, 2) bearing-only, and 3) distance-only measurements. We further conduct a nonlinear observability analysis and provide sufficient conditions for the 3-D relative position and orientation ( pose) to become locally weakly observable. Finally, we present a nonlinear weighted least-squares estimator to refine the algebraic pose estimate in the presence of noise. We use simulations to evaluate the performance of our methods in terms of accuracy and robustness.
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