Sensor-based self-calibration of the iCub's head

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 5666-5672

  Santos, José ^a   Bernardino, Alexandre ^a   Santos Victor, José ^a  

^a INSTITUTO SUPERIOR TÉCNICO   (Portugal)

Author keywords

[No Author keywords available]

Indexed keywords

AUTOMATIC CALIBRATION; EXTERNAL SENSORS; GEOMETRICAL RELATIONSHIP; INERTIAL MEASUREMENTS; KINEMATIC CHAIN; RECALIBRATIONS; SELF CALIBRATION; STEREO HEAD; WEAR AND TEAR;

CALIBRATION; KINEMATICS; SENSORS; STEREO VISION;

INTELLIGENT ROBOTS;

EID: 78651514473     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5651275     Document Type: Conference Paper

References (17)

1. R. Beira, M. Lopes, M. Praça, J. Santos-Victor, A. Bernardino, G. Metta, F. Becchi, and R. Saltarn. Design of the robot-cub (icub) head. Proc. IEEE International Conference on Robotics and Automation, ICRA 2006, May 2006.
2. G. Broyden. A class of methods for solving non-linear simultaneous equations. Mathematics of Computation, 19:577-593, October 1965.
3. J. Craig. Introduction to Robotics: Mechanics and Control. Addison-Wesley, first edition edition, 1955.
4. M. A. Fischler and R. C. Bolles. andom sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography. Comm. of the ACM, 24:381-395, 1981.
5. R. Hartley and A Zisserman. Multiple View Geometry in Computer Vision. Cambridge University Press, 2000.
6. E. Hayman, J. Knight, and D. Murray. Self-alignment of an active head from observation of rotation matrices. Proc. of the International Conference on Pattern Recognition, ICPR 2000, September 2000.
7. J. Knight and I. Reid. Automated alignment of robotic pan-tilt camera units using vision. International Journal of Computer Vision, 68(3):219-237, 2006.
8. L. Ljung. System Identification - Theory for the User. Prentice Hall, second edition edition, 1999.
9. A. Martinelli, D. Scaramuzza, and R. Siegwart. Automatic selfcalibration of a vision system during robot motion. Proc. IEEE International Conference on Robotics and Automation, ICRA 2006, May 2006.
10. A. Martinelli, N. Tomatis, and R. Siegwart. Simultaneous localization and odometry self calibration. Autonomous Robots, 22:75-85, 2007.
11. R. Martinez-Cantin, M. Lopes, and L. Montesano. Body schema acquisition through active learning. Proc. IEEE International Conference on Robotics and Automation, ICRA 2010, May 2010.
12. Y. Meng and H. Zhuang. Self-calibration of camera-equipped robot manipulators. The International Journal of Robotics Research, 20(11):909-921, November 2001.
13. J. Nocedal and S. Wright. Numerical Optimization. Springer, second edition edition, 1999.
14. N. Roy and S. Thrun. Online self-calibration for mobile robots. Proc. IEEE International Conference on Robotics and Automation, ICRA 1999, May 1999.
15. J. Shi and C. Tomasi. Good features to track. Proc. of the IEEE IEEE Conference on Computer Vision and Pattern Recognition, CVPR 1994, 1994.
16. D. Song, N. Qin, and K. Goldberg. A minimum variance calibration algorithm for pan-tilt robotic cameras in natural environments. Proc. of the IEEE International Conference on Robotics and Automation, ICRA 2006, May 2006.
17. B. Tworek, A. Bernardino, and J. Santos-Victor. Visual self-calibration of pan-tilt kinematic structures. Proc. of the 8th Conference on Autonomous Robot Systems and Competitions, ROBOTICA 2008, April 2008.