典型文献
High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System
文献摘要：
Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured environment.Before robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical prerequisite.This paper introduces a novel calibration system.First,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint framework.Second,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent manner.The calibration has been evaluated on our collected visual inertial-manipulator dataset.The systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.
文献关键词：
中图分类号：
作者姓名：
Yinlong Zhang;Wei Liang;Sichao Zhang;Xudong Yuan;Xiaofang Xia;Jindong Tan;Zhibo Pang
作者机构：
State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Key Laboratory of Networked Control Systems,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;The School of Computer Science and Technology,Xidian University,Xi'an 710071,China;Department of Mechanical,Aerospace and Biomedical Engineering,University of Tennessee,Konxville 37996,USA;Department of Automation Technology,ABB Corporate Research Sweden,72178 V?ster?s,Sweden
文献出处：
引用格式：
[1]Yinlong Zhang;Wei Liang;Sichao Zhang;Xudong Yuan;Xiaofang Xia;Jindong Tan;Zhibo Pang-.High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System)[J].仿生工程学报（英文版）,2022(02):299-313
A类：
B类：
High,precision,Calibration,Camera,IMU,Manipulator,Bio,inspired,Robotic,System,Inspired,by,box,jellyfish,that,has,distributed,complementary,perceptive,seek,equip,manipulator,camera,Inertial,Measurement,Unit,perceive,ego,motion,surrounding,unstructured,environment,Before,robot,perception,reliable,high,calibration,between,critical,prerequisite,This,paper,introduces,novel,First,correlate,spatial,relationship,sensing,units,joint,framework,Second,moving,trajectory,elaborately,designed,spiral,pattern,enables,full,excitations,yaw,pitch,roll,rotations,translations,repeatable,consistent,manner,been,evaluated,our,collected,visual,inertial,dataset,systematic,comparisons,analysis,indicate,consistency,effectiveness,proposed,method
AB值：
0.713311
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