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Simultaneous Calibration and Mapping

Nissler, Christian and Durner, Maximilian and Marton, Zoltan-Csaba and Triebel, Rudolph (2018) Simultaneous Calibration and Mapping. In: Experimental Robotics. 2018 International Symposium on Experimental Robotics (ISER), 5-8 Nov 2018, Buenos Aires, Argentina.

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We present evaluation experiments of a hand-eye calibration and camera- camera calibration method, which is applicable to cases where classical calibration methods fail. As described in our earlier works, the calibration works by performing rotational movements with the robot and estimating the rotational axes by tracking fiducial markers or other static parts of the environment (if the camera is moved with the robot, as in this experiment; otherwise tracking the robot itself or markers on it with a static camera). We extend our earlier work by virtually increasing the field of view of the cameras by using a mapping approach. We compare our results with an extended classical approach for the challenging case of calibrating a compliant humanoid robot having cameras with non-overlapping fields of view. We also show another application of this method: By observing markers attached to a robot's end effector, we can calibrate the markers to each other as well as to the robot's frame of reference.

Item URL in elib:https://elib.dlr.de/124822/
Document Type:Conference or Workshop Item (Speech)
Title:Simultaneous Calibration and Mapping
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Nissler, ChristianChristian.Nissler (at) dlr.dehttps://orcid.org/0000-0003-4361-9041
Durner, Maximilianmaximilian.durner (at) dlr.dehttps://orcid.org/0000-0001-8885-5334
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Triebel, RudolphRudolph.Triebel (at) dlr.dehttps://orcid.org/0000-0002-7975-036X
Date:November 2018
Journal or Publication Title:Experimental Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:Calibration Hand-Eye Calibration Camera-Camera Calibration fiducial markers AprilTags mapping
Event Title:2018 International Symposium on Experimental Robotics (ISER)
Event Location:Buenos Aires, Argentina
Event Type:international Conference
Event Dates:5-8 Nov 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Nissler, Christian
Deposited On:11 Dec 2018 22:58
Last Modified:11 Mar 2022 16:54

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