Mobile robot calibration

Abstract

The goal of this paper is simultaneous calibration of mobile robot which equipped the pan-tilt stereo camera. Mobile robot calibration can be divided to head-eye and wheel parameter calibration. The procedure of mobile robot calibration need a measurements given by odometry, pan-tilt stereo camera. Also, this method use the natural image features for the useful calibration. At first, we estimates a parameters of head-eye and wheel by the proposed method. Then, estimates are tuned by nonlinear optimization method for accuracy of calibration.