Abstract
Service robots operate in unstructured environments where precise and reliable calibration of vision and manipulation components is essential for successful and safe operation. So far the calibration of the service robot Care-O-bot® 3 covering only the camera sensors is not precise enough for manipulation of small objects and involves many manual error-prone steps. In an evolving research context there is constant need for recalibration and therefore a complete and precise yet quick and easy to use calibration procedure is desired. We propose an automated calibration process covering the cameras and kinematic components of a service robot and present an open-source implementation for Care-O-bot® 3.
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Notes
- 1.
Website of OpenCV: http://opencv.willowgarage.com/wiki/.
- 2.
Documentation and source code are available online: http://www.ros.org/wiki/cob_calibration and https://github.com/ipa-fmw-sh/cob_calibration.
- 3.
Unified Robot Description Format: http://www.ros.org/wiki/urdf.
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Haug, S.A., Weisshardt, F., Verl, A. (2012). Automatic Camera and Kinematic Calibration of a Complex Service Robot. In: Levi, P., Zweigle, O., Häußermann, K., Eckstein, B. (eds) Autonomous Mobile Systems 2012. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32217-4_1
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DOI: https://doi.org/10.1007/978-3-642-32217-4_1
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