Extrinsic calibration refers to the process of determining the relative spatial relationship between multiple sensors or links in a system. The goal of extrinsic calibration is to accurately align the coordinate systems of different sensors or links, enabling them to work together seamlessly and provide consistent and accurate information. By achieving proper extrinsic calibration, the system can combine the data from different sensors, allowing for more robust and accurate perception, localization, and mapping. This study focuses on developing and enhancing calibration methodologies tailored specifically for collaborative robots mounted on autonomous mobile platforms. The objective is to improve the Atomic Transformations Optimization Method (ATOM) calibration framework, developed by the Laboratório de Automação e Robótica at the University of Aveiro to address challenges associated with sensor to sensor, sensor to frame, and sensor in motion calibrations, in order to be able to calibrate mobile manipulators with multiple sensors. The ATOM calibration framework, used as the foundation for this research, tackle the calibration by formulating it as an extended optimization problem. By estimating the poses of the sensors, the framework achieves accurate calibration results. By extending the capabilities of the framework to enable the calibration of a mobile manipulator, allows for a unified optimization process that calibrates two cameras and the base of the manipulator w.r.t. the base of the mobile platform. The calibration process involves recording different images of a calibration pattern from both cameras in conjunction with the odometry of the system to perform the calibration in a single optimization process. A comprehensive investigation is conducted in simulated and real environments to evaluate the final performance of the framework. Multiple evaluations were conducted and the results demonstrate successful calibration with high accuracy in both simulated and real environment. ; A calibração extrínseca ...


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    Titel :

    Calibration methodologies for collaborative robots and autonomous mobile platforms ; Metodologias de calibração para robôs colaborativos e plataformas móveis autónomas



    Erscheinungsdatum :

    2023-07-11


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629





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