Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

doi:10.1109/JAS.2021.1004290

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	Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework
	Yinlong Zhang; Wei Liang; Mingze Yuan; Hongsheng He; Jindong Tan; Zhibo Pang
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:1 页码:146-159
关键词	Calibration inertial measurement unit (IMU) monocular camera robotic arm spiral moving trajectory
ISSN号	2329-9266
DOI	10.1109/JAS.2021.1004290
英文摘要	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° and 0.01 m, respectively. The comparisons with state-of-the-art results prove our calibration consistency, accuracy and effectiveness.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45981]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Yinlong Zhang,Wei Liang,Mingze Yuan,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	Yinlong Zhang,Wei Liang,Mingze Yuan,Hongsheng He,Jindong Tan,&Zhibo Pang.(2022).Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework.IEEE/CAA Journal of Automatica Sinica,9(1),146-159.
MLA	Yinlong Zhang,et al."Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework".IEEE/CAA Journal of Automatica Sinica 9.1(2022):146-159.