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Active Online Calibration of Multiple Sensors for Autonomous Surface Vessels

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Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 109))

Abstract

We present an approach to actively calibrate the exteroceptive sensors of an Autonomous Surface Vessel (ASV) autonomously. The approach consists of locating suitable calibration sites in the environment from aerial imagery, navigating to them, gathering calibration data and estimating the required parameters from data. We have conducted experiments using an ASV in a lake to validate our approach.

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Acknowledgments

Special thanks to RESL members Jnaneshwar Das, Stephanie Kemna, Jörg Müller and Carl Oberg for their help with conducting field experiments and the staff at Frank G. Bonelli Regional Park for being helpful and allowing us to conduct our experiments in the lake.

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Authors and Affiliations

  1. Robotic Embedded Systems Laboratory, University of Southern California, Los Angeles, CA, 90089, USA

    Hordur K. Heidarsson & Gaurav S. Sukhatme

Authors
  1. Hordur K. Heidarsson
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  2. Gaurav S. Sukhatme
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Corresponding author

Correspondence to Hordur K. Heidarsson .

Editor information

Editors and Affiliations

  1. Drexel University, Philadelphia, Pennsylvania, USA

    M. Ani Hsieh

  2. Department of Computer Science, Stanford University, Stanford, California, USA

    Oussama Khatib

  3. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, Pennsylvania, USA

    Vijay Kumar

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Heidarsson, H.K., Sukhatme, G.S. (2016). Active Online Calibration of Multiple Sensors for Autonomous Surface Vessels. In: Hsieh, M., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 109. Springer, Cham. https://doi.org/10.1007/978-3-319-23778-7_16

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  • DOI: https://doi.org/10.1007/978-3-319-23778-7_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23777-0

  • Online ISBN: 978-3-319-23778-7

  • eBook Packages: EngineeringEngineering (R0)

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