Tenhumberg, Johannes und Winkelbauer, Dominik und Burschka, Darius und Bäuml, Berthold (2023) Self-Contained Calibration of an Elastic Humanoid Upper Body with a Single Head-Mounted RGB Camera. In: 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022. IEEE. IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022-11-28 - 2022-11-30, Ginowan, Japan. doi: 10.1109/Humanoids53995.2022.10000184. ISBN 979-835030979-9. ISSN 2164-0572.
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Offizielle URL: https://ieeexplore.ieee.org/document/10000184
Kurzfassung
When a humanoid robot performs a manipulation task, it first makes a model of the world using its visual sensors and then plans the motion of its body in this model. For this, precise calibration of the camera parameters and the kinematic tree is needed. Besides the accuracy of the calibrated model, the calibration process should be fast and self-contained, i.e., no external measurement equipment should be used. Therefore, we extend our prior work on calibrating the elastic upper body of DLR's Agile Justin by now using only its internal head-mounted RGB camera. We use simple visual markers at the ends of the kinematic chain and one in front of the robot, mounted on a pole, to get measurements for the whole kinematic tree. To ensure that the task-relevant cartesian error at the end-effectors is minimized, we introduce virtual noise to fit our imperfect robot model so that the pixel error has a higher weight if the marker is further away from the camera. This correction reduces the cartesian error by more than 20%, resulting in a final accuracy of 3.9mm on average and 9.1mm in the worst case. This way, we achieve the same precision as in our previous work, where an external cartesian tracking system was used.
elib-URL des Eintrags: | https://elib.dlr.de/192923/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Self-Contained Calibration of an Elastic Humanoid Upper Body with a Single Head-Mounted RGB Camera | ||||||||||||||||||||
Autoren: |
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Datum: | 5 Januar 2023 | ||||||||||||||||||||
Erschienen in: | 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
DOI: | 10.1109/Humanoids53995.2022.10000184 | ||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||
ISSN: | 2164-0572 | ||||||||||||||||||||
ISBN: | 979-835030979-9 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Calibration, Elastic Humanoid | ||||||||||||||||||||
Veranstaltungstitel: | IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) | ||||||||||||||||||||
Veranstaltungsort: | Ginowan, Japan | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 28 November 2022 | ||||||||||||||||||||
Veranstaltungsende: | 30 November 2022 | ||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Autonome, lernende Roboter [RO] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Tenhumberg, Johannes | ||||||||||||||||||||
Hinterlegt am: | 25 Jan 2023 14:52 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:54 |
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