Authors:
Jan Alberts
;
Sebastian P. Kleinschmidt
and
Bernardo Wagner
Affiliation:
Real-Time Systems Group, Institute for Systems Engineering, Leibniz Universität Hannover, Appelstraße 9A, D-30167, Hannover and Germany
Keyword(s):
Mobile Robotics, Extrinsic Calibration, Mobile Manipulation, 2D Laser Scanner, LiDAR, Parameter Optimization.
Related
Ontology
Subjects/Areas/Topics:
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
Abstract:
An accurate extrinsic calibration between a robots’ exteroceptive sensors and its manipulator is essential for tasks such as mobile manipulation and tactile exploration. Especially for extrinsic calibration of a manipulators’ end effector and 2D laser scanner, state-of-the-art approaches often require complex calibration targets or sensors which need to be mounted to the end effector. Therefore, such approaches are only suitable to a limited extent for use in mobile robotics. In this paper, we present a simple but effective approach to determine the six degrees of freedom transformation between the end effector of a serial manipulator and the center of a 2D laser scanner. In contrast to other approaches, our approach requires only a 1D target for calibration. Whereas complex calibration geometries often require a tool change for calibration, our approach is also applicable using practical objects like a drill mounted to the end effector. As a consequence, a tool change is not require
d for recalibration for many applications anymore. To evaluate the performance of our approach, we perform the calibration based on simulated as well as real data. We compare our results against the ground truth of a physically closed transformation chain using the lidars’ CAD data.
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