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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework
Zhang YL(张吟龙)1,2,3; Liang W(梁炜)1,2,3; Yuan MZ(苑明哲)1,2,3; He, Hongsheng4; Tan JD(谈金东)5; Pang ZB(庞智博)6,7
Department工业控制网络与系统研究室
Source PublicationIEEE-CAA JOURNAL OF AUTOMATICA SINICA
ISSN2329-9266
2022
Volume9Issue:1Pages:146-159
Indexed BySCI ; EI
EI Accession number20214411107071
WOS IDWOS:000709092600016
Contribution Rank1
Funding OrganizationInternational Partnership Program of Chinese Academy of Sciences (173321KYSB20180020, 173321KYSB20200002) ; National Natural Science Foundation of China (61903357, 62022088) ; Liaoning Provincial Natural Science Foundation of China (2020-MS-032, 2019-YQ-09, 2020JH2/10500002, 2021JH6/10500114) ; LiaoNing Revitalization Talents Program (XLYC1902110) ; China Postdoctoral Science Foundation (2020M672600) ; Swedish Foundation for Strategic Research (APR20-0023)
Keywordcalibration inertial measurement unit (IMU) monocular camera robotic arm spiral moving trajectory
Abstract

Reliable and accurate calibration for camera, inertial measurement unit (IMU) and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment perception. However, traditional calibrations suffer inaccuracy and inconsistency. To address these problems, this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying framework. In our method, the spatial relationship is geometrically correlated between the sensing units and robotic arm. The decoupled estimations on rotation and translation could reduce the coupled errors during the optimization. Additionally, the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and consistently. The calibration has been evaluated on our developed platform. In the experiments, the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7 degrees and 0.01 m, respectively. The comparisons with state-of-the-art results prove our calibration consistency, accuracy and effectiveness.

Language英语
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/29850
Collection工业控制网络与系统研究室
Corresponding AuthorLiang W(梁炜)
Affiliation1.Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016
3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
4.School of Computing, Wichita State University, Wichita 67260 USA
5.Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, TN 37996 USA
6.Department of Automation Technology, ABB Corporate Research Sweden, Vasteras 72178, Sweden
7.Department of Intelligent Systems, Royal Institute of Technology (KTH), Stockholm 11428, Sweden
Recommended Citation
GB/T 7714
Zhang YL,Liang W,Yuan MZ,et al. Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework[J]. IEEE-CAA JOURNAL OF AUTOMATICA SINICA,2022,9(1):146-159.
APA Zhang YL,Liang W,Yuan MZ,He, Hongsheng,Tan JD,&Pang ZB.(2022).Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework.IEEE-CAA JOURNAL OF AUTOMATICA SINICA,9(1),146-159.
MLA Zhang YL,et al."Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework".IEEE-CAA JOURNAL OF AUTOMATICA SINICA 9.1(2022):146-159.
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