Self-calibration of gyro using monocular SLAM for an indoor mobile robot

Rate gyros are widely used to calculate the heading angle for mobile robot localization. They are normally calibrated in the factory using an expensive rate table prior to their use. In this paper, a self-calibration method using a monocular camera without a rate table is proposed. The suggested met...

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Bibliographic Details
Published in:International journal of control, automation, and systems 2012, Automation, and Systems, 10(3), , pp.558-566
Main Authors: Lee, Hyoung-Ki, Choi, Kiwan, Park, Jiyoung, Myung, Hyun
Format: Article
Language:English
Subjects:
Analysis
Automation
Bias
Calibration
Cameras
Control
Control systems
Delay
Engineering
Gyroscopes
Kalman filters
Kinematics
Localization
Manufacturing engineering
Mechatronics
Position (location)
Regular Papers
Robotics
Robots
Sensors
Studies
Tables (data)
제어계측공학
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Summary:Rate gyros are widely used to calculate the heading angle for mobile robot localization. They are normally calibrated in the factory using an expensive rate table prior to their use. In this paper, a self-calibration method using a monocular camera without a rate table is proposed. The suggested method saves time and cost for extra calibration procedure. SLAM (Simultaneous Localization And Mapping) based on visual features and odometry gives reference heading (yaw) angles. Using these, the coefficients of a scale factor function are estimated through Kalman filtering. A new undelayed feature initialization method is proposed to estimate the heading angle without any delay. Experimental results show the efficiency of the proposed method.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-012-0312-x