Calibration method of internal and external parameters of camera wheel tachometer based on TagSLAM framework

摘要

The Tag map is constructed by TagSLAM framework and the camera track is located, meanwhile, the trajectory of the robot is calculated by integrating the obtained wheel tachometer data. The internal and external parameters of the camera and wheel tachometer are obtained by solving the least square problem after the camera and wheel tachometer tracks are aligned. This method can calibrate the internal and external parameters of camera wheel tachometer without the robot moving along a specific trajectory. Experimental results show that the method is accurate and the calibration results are very close to the standard values of internal and external parameters of camera wheel speedometer.