Simultaneous calibration of odometry and camera extrinsic for a differential driven mobile robot.
Hengbo TangYunhui LiuLuyang LiPublished in: ROBIO (2015)
Keyphrases
- mobile robot
- camera calibration
- camera parameters
- inertial sensors
- focal length
- sensor fusion
- map building
- calibration method
- unknown environments
- multiple cameras
- intrinsic parameters
- structure from motion
- autonomous navigation
- simultaneous localization and mapping
- calibration procedure
- lens distortion
- obstacle avoidance
- position estimation
- multi view
- autocalibration
- bundle adjustment
- feature points
- path planning
- d scene
- visual servoing
- ground plane
- visual odometry
- wide angle lenses
- outdoor environments
- dynamic environments
- indoor environments
- camera network
- mobile robotics
- inertial measurement unit
- vision system
- image coordinates
- vanishing points
- position and orientation
- computer vision
- laser rangefinder
- single camera
- camera pose
- pan tilt
- pan tilt zoom
- optical center
- camera orientation
- radial distortion
- robot navigation
- high resolution
- camera positions