As a guest user you are not logged in or recognized by your IP address. You have
access to the Front Matter, Abstracts, Author Index, Subject Index and the full
text of Open Access publications.
The accurate calibration of the perception system is one of the key prerequisites for quadruped robots to move safely and robustly in challenging environments. Not only does it provide relative transformations of the sensors w.r.t the robot body but also the time offset between unsynchronized sensors. This paper presents a two-stage spatio-temporal calibration framework for the body-eye calibration of quadruped robots. By attaching one complementary sensor, we first estimate the time offset between the sensor frame and body frame without complicated modifications to the mechanical system. Then we estimate the extrinsic transformation by formulating a hand-eye calibration problem while using the information from the kinematic model and encoder measurements. The extrinsic parameters are finally optimized by minimizing the re-projection error and the kinematics error in a factor graph formulation with a Lie group state representation. The experiments demonstrate that the proposed algorithm produces precise calibration results which guarantee high-accuracy environmental mapping using an RGB-D camera.
This website uses cookies
We use cookies to provide you with the best possible experience. They also allow us to analyze user behavior in order to constantly improve the website for you. Info about the privacy policy of IOS Press.
This website uses cookies
We use cookies to provide you with the best possible experience. They also allow us to analyze user behavior in order to constantly improve the website for you. Info about the privacy policy of IOS Press.