Probabilistic Calibration of a Manipulator and a 2D Laser Scanner

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

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OriginalspracheEnglisch
Titel des Sammelwerks2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Herausgeber/-innenLino Marques, Majid Khonji, Jorge Dias
Herausgeber (Verlag)IEEE Computer Society
Seiten341-347
Seitenumfang7
ISBN (elektronisch)978-1-6654-0390-0
ISBN (Print)978-1-6654-0391-7, 978-1-6654-0389-4
PublikationsstatusVeröffentlicht - 2020
Veranstaltung2020 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) - virtual event
Dauer: 4 Nov. 20206 Nov. 2020

Publikationsreihe

NameIEEE International Symposium on Safety, Security and Rescue Robotics
ISSN (Print)2374-3247
ISSN (elektronisch)2475-8426

Abstract

An accurate geometric calibration between the subsystems of a mobile platform is essential for a multitude of applications. The laser scanner is of particular relevance for tasks such as localization and mapping, as well as for object-and obstacle detection. Thus, the calibration between a laser scanner and a manipulator is of particular interest for mobile manipulation and relevant for the use in industrial applications, disaster szenarios or search-and-rescue missions. In this paper, we present a probabilistic method for geometric calibration of a manipulator and a 2D laser scanner. In contrast to state-of-the-art procedures, the presented method takes into account the uncertainties of the measurements of the laser scanner and of joints which is propagated through the kinematic chain of the manipulator. Furthermore, our approach provides an estimate of the uncertainty of the resulting calibration. The method does not require any additional sensors and constitutes an accurate and easy-to-apply solution. The approach is validated with data of simulation and real experiments. We show in numerous monte carlo simulations that considering the uncertatinties improves the accuracy by 50.2% in translation and 44.3% in rotation compared to a state-of-the-art procedure. The plausibility of the estimated calibration is validated by real experiments. Furthermore, the provided uncertainty of each calibration parameter indicates whether recalibration is required.

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Probabilistic Calibration of a Manipulator and a 2D Laser Scanner. / Alberts, Jan; Kleinschmidt, Sebastian P.; Wagner, Bernardo.
2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). Hrsg. / Lino Marques; Majid Khonji; Jorge Dias. IEEE Computer Society, 2020. S. 341-347 9292604 (IEEE International Symposium on Safety, Security and Rescue Robotics).

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Alberts, J, Kleinschmidt, SP & Wagner, B 2020, Probabilistic Calibration of a Manipulator and a 2D Laser Scanner. in L Marques, M Khonji & J Dias (Hrsg.), 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)., 9292604, IEEE International Symposium on Safety, Security and Rescue Robotics, IEEE Computer Society, S. 341-347, 2020 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), 4 Nov. 2020. https://doi.org/10.1109/SSRR50563.2020.9292604
Alberts, J., Kleinschmidt, S. P., & Wagner, B. (2020). Probabilistic Calibration of a Manipulator and a 2D Laser Scanner. In L. Marques, M. Khonji, & J. Dias (Hrsg.), 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) (S. 341-347). Artikel 9292604 (IEEE International Symposium on Safety, Security and Rescue Robotics). IEEE Computer Society. https://doi.org/10.1109/SSRR50563.2020.9292604
Alberts J, Kleinschmidt SP, Wagner B. Probabilistic Calibration of a Manipulator and a 2D Laser Scanner. in Marques L, Khonji M, Dias J, Hrsg., 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). IEEE Computer Society. 2020. S. 341-347. 9292604. (IEEE International Symposium on Safety, Security and Rescue Robotics). doi: 10.1109/SSRR50563.2020.9292604
Alberts, Jan ; Kleinschmidt, Sebastian P. ; Wagner, Bernardo. / Probabilistic Calibration of a Manipulator and a 2D Laser Scanner. 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). Hrsg. / Lino Marques ; Majid Khonji ; Jorge Dias. IEEE Computer Society, 2020. S. 341-347 (IEEE International Symposium on Safety, Security and Rescue Robotics).
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