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首页> 外文期刊>IEEE Transactions on Robotics and Automation >Active self-calibration of hand-mounted laser range finders
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Active self-calibration of hand-mounted laser range finders

机译：手持式激光测距仪的主动自校准

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摘要

We propose a method for self-calibration of robotic hand-mounted laser range finders by means of active motion of the robot. Through range-measuring a plane of unknown position and orientation, the mounting parameters of the range finders and the coordinates of the world plane are estimated. Systematic measurement errors can also be calibrated at the same time. The approach is fully autonomous, in that no initial guesses of the unknown parameters are to be provided from the outside by humans for the solution of a set of nonlinear equations. In fact, the initial values are all found in closed forms by the algorithm itself. Sufficient conditions for a unique solution are derived in terms of controlled motion sequences. Experimental results in both a simulated and a real environments are reported.
机译：我们提出了一种通过机器人的主动运动对机器人手持式激光测距仪进行自校准的方法。通过对未知位置和方向的平面进行测距，可以估算测距仪的安装参数和世界平面的坐标。系统的测量误差也可以同时进行校准。该方法是完全自主的，因为对于一组非线性方程式的求解，不需要人工从外部提供未知参数的初始猜测。实际上，初始值都是通过算法本身以封闭形式找到的。就受控运动序列而言，得出了唯一解决方案的充分条件。报告了在模拟和真实环境中的实验结果。

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