High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System | |
Zhang YL(张吟龙)4,5,6; Liang W(梁炜)4,5,6; Zhang SC(张思超)4,5,6; Yuan XD(苑旭东)4,5,6; Xia XF(夏小芳)2; Tan JD(谈金东)3; Pang ZB(庞智博)1 | |
刊名 | Journal of Bionic Engineering |
2022 | |
页码 | 1-15 |
关键词 | Bio-inspired robotic system Monocular camera IMU Manipulator Calibration |
ISSN号 | 1672-6529 |
产权排序 | 1 |
英文摘要 | 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. |
资助项目 | National Natural Science Foundation of China[61903357] ; National Natural Science Foundation of China[61902299] ; National Natural Science Foundation of China[62022088] ; International Partnership Program of Chinese Academy of Sciences[173321KYSB20200002] ; Liaoning Provincial Natural Science Foundation of China[2020-MS-032] ; Liaoning Provincial Natural Science Foundation of China[2021JH6/ 10500114] ; Liaoning Provincial Natural Science Foundation of China[2020JH2/10500002] ; Guangzhou Science and Technology Planning Project[202102021300] ; China Postdoctoral Science Foundation[2019TQ0239] ; China Postdoctoral Science Foundation[2019M663636] |
WOS关键词 | VISUAL-INERTIAL ODOMETRY ; LOCALIZATION ; TARGET |
WOS研究方向 | Engineering ; Materials Science ; Robotics |
语种 | 英语 |
WOS记录号 | WOS:000762164600002 |
资助机构 | National Natural Science Foundation of China (61903357, 61902299, 62022088) ; International Partnership Program of Chinese Academy of Sciences (173321KYSB20200002) ; Liaoning Provincial Natural Science Foundation of China (2020-MS-032, 2021JH6/ 10500114, 2020JH2/10500002) ; Guangzhou Science and Technology Planning Project (202102021300) ; China Postdoctoral Science Foundation (2019TQ0239, 2019M663636) |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/30547] |
专题 | 沈阳自动化研究所_工业控制网络与系统研究室 |
通讯作者 | Liang W(梁炜) |
作者单位 | 1.Department of Automation Technology, ABB Corporate Research Sweden, Västerås 72178, Sweden 2.The School of Computer Science and Technology, Xidian University, Xi’an 710071, China 3.Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Konxville 37996, United States 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 5.Key Laboratory of Networked Control Systems, Chinese Academy of Sciences, Shenyang 110016, China 6.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China |
推荐引用方式 GB/T 7714 | Zhang YL,Liang W,Zhang SC,et al. High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System[J]. Journal of Bionic Engineering,2022:1-15. |
APA | Zhang YL.,Liang W.,Zhang SC.,Yuan XD.,Xia XF.,...&Pang ZB.(2022).High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System.Journal of Bionic Engineering,1-15. |
MLA | Zhang YL,et al."High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System".Journal of Bionic Engineering (2022):1-15. |
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