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Self-calibration of gyro using monocular SLAM for an indoor mobile robot

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  • Robotics and Automation
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Abstract

Rate gyros are widely used to calculate the heading angle for mobile robot localization. They are normally calibrated in the factory using an expensive rate table prior to their use. In this paper, a self-calibration method using a monocular camera without a rate table is proposed. The suggested method saves time and cost for extra calibration procedure. SLAM (Simultaneous Localization And Mapping) based on visual features and odometry gives reference heading (yaw) angles. Using these, the coefficients of a scale factor function are estimated through Kalman filtering. A new undelayed feature initialization method is proposed to estimate the heading angle without any delay. Experimental results show the efficiency of the proposed method.

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Authors and Affiliations

  1. MS Lab. of Samsung Advanced Institute of Technology, Samsung Electronics Co., Ltd., Nongseo-dong, Giheung-gu, Yongin, Gyeonggi-do, 449-712, Korea

    Hyoung-Ki Lee, Kiwan Choi & Jiyoung Park

  2. Dept. of Civil & Environmental Engineering, KAIST, Guseong-dong, Yuseong-gu, Daejeon, 305-701, Korea

    Hyun Myung

Authors
  1. Hyoung-Ki Lee
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  2. Kiwan Choi
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  3. Jiyoung Park
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  4. Hyun Myung
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Corresponding author

Correspondence to Hyun Myung.

Additional information

Recommended by Editorial Board member Chan Gook Park under the direction of Editor Hyouk Ryeol Choi.

The revision of this work was supported by the Energy Efficiency & Resources of the Korean Institute of Energy Technology Evaluation and Planning (grant No. 20112010 30001D-11-2-200), funded by the Korean Government Ministry of Knowledge Economy.

Hyoung-Ki Lee received his Ph.D. degree in robotics from KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Korea in 1998. In 1999, he worked as a Postdoctoral Fellow in Mechanical Engineering Lab., AIST, in Japan. In 2000, he joined Samsung Advanced Institute of Technology and is developing a vacuum cleaning robot with a localization function as a part of a home service robot project. His research interests include SLAM (Simultaneous Localization And Mapping) for home robots, fusing different kinds of sensors (inertial sensors, cameras, range finders, etc.), and developing new low-cost sensor modules such as a MEMS gyro sensor module and structured light range finder.

Kiwan Choi received his M.S. degree in mechanical design and production engineering from Seoul National University, Korea in 1999. He is currently a senior researcher in the Robot Navigation Group, Samsung Advanced Institute of Technology, Samsung Electronics Co., Ltd. His current research interests include SLAM (Simultaneous Localization And Mapping), inertial navigation systems, and mobile robotics.

Jiyoung Park received her M.S. degree in electronics and electrical engineering from KAIST in 2006. She is currently a senior researcher with the Robot Navigation Group, Advanced Institute of Technology, Samsung Electronics Inc. Her current research interests include inertial navigation systems and mobile robotics.

Hyun Myung received his Ph.D. degree in electrical engineering from KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Korea in 1998. He is currently an assistant professor in the Dept. of Civil and Environmental Engineering, and also an adjunct professor of the Robotics Program and KIUSS (KAIST Institute for Urban Space and Systems) at KAIST. He was a principal researcher in SAIT (Samsung Advanced Institute of Technology, Samsung Electronics Co., Ltd.), Yongin, Korea (2003.7–2008.2). He was a director in Emersys Corp. (2002.3–2003.6) and a senior researcher in ETRI (Electronics and Telecommunications Research Institute) (1998.9–2002.2), Korea. His research interests are in the areas of mobile robot navigation, SLAM (Simultaneous Localization and Mapping), evolutionary computation, numerical and combinatorial optimization, and intelligent control based on soft computing techniques.

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Lee, HK., Choi, K., Park, J. et al. Self-calibration of gyro using monocular SLAM for an indoor mobile robot. Int. J. Control Autom. Syst. 10, 558–566 (2012). https://doi.org/10.1007/s12555-012-0312-x

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  • DOI: https://doi.org/10.1007/s12555-012-0312-x

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