Robust Calibration Procedure of a Manipulator and a 2D Laser Scanner using a 1D Calibration Target

Jan Alberts, Sebastian Kleinschmidt, Bernardo Wagner

Abstract

An accurate extrinsic calibration between a robots’ exteroceptive sensors and its manipulator is essential for tasks such as mobile manipulation and tactile exploration. Especially for extrinsic calibration of a manipulators’ end effector and 2D laser scanner, state-of-the-art approaches often require complex calibration targets or sensors which need to be mounted to the end effector. Therefore, such approaches are only suitable to a limited extent for use in mobile robotics. In this paper, we present a simple but effective approach to determine the six degrees of freedom transformation between the end effector of a serial manipulator and the center of a 2D laser scanner. In contrast to other approaches, our approach requires only a 1D target for calibration. Whereas complex calibration geometries often require a tool change for calibration, our approach is also applicable using practical objects like a drill mounted to the end effector. As a consequence, a tool change is not required for recalibration for many applications anymore. To evaluate the performance of our approach, we perform the calibration based on simulated as well as real data. We compare our results against the ground truth of a physically closed transformation chain using the lidars’ CAD data.

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Paper Citation


in Harvard Style

Alberts J., Kleinschmidt S. and Wagner B. (2019). Robust Calibration Procedure of a Manipulator and a 2D Laser Scanner using a 1D Calibration Target.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-380-3, pages 112-119. DOI: 10.5220/0007946701120119


in Bibtex Style

@conference{icinco19,
author={Jan Alberts and Sebastian Kleinschmidt and Bernardo Wagner},
title={Robust Calibration Procedure of a Manipulator and a 2D Laser Scanner using a 1D Calibration Target},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2019},
pages={112-119},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007946701120119},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Robust Calibration Procedure of a Manipulator and a 2D Laser Scanner using a 1D Calibration Target
SN - 978-989-758-380-3
AU - Alberts J.
AU - Kleinschmidt S.
AU - Wagner B.
PY - 2019
SP - 112
EP - 119
DO - 10.5220/0007946701120119