An odometry calibration method for mobile robots based on the least-squares technique

2004 ◽  
Author(s):  
G. Antonelli ◽  
S. Chiaverini ◽  
G. Fusco
Keyword(s):  
Mobile Robots ◽  
Least Squares ◽  
Calibration Method ◽  
Odometry Calibration

Laser interferometry measurements based calibration and error propagation identification for pose estimation in mobile robots

Robotica ◽  
2013 ◽  
Vol 32 (1) ◽  
pp. 165-174 ◽  
Author(s):  
Paulo A. Jiménez ◽  
Bijan Shirinzadeh
Keyword(s):  
Mobile Robots ◽  
Pose Estimation ◽  
Error Propagation ◽  
Laser Interferometry ◽  
Error Variance ◽  
Calibration Method ◽  
Novel Method ◽  
Position And Orientation ◽  
Odometry Calibration ◽  
Two Parameter

SUMMARYA widely used method for pose estimation in mobile robots is odometry. Odometry allows the robot in real time to reconstruct its position and orientation from the wheels' encoder measurements. Given to its unbounded nature, odometry calculation accumulates errors with quadratic increase of error variance with traversed distance. This paper develops a novel method for odometry calibration and error propagation identification for mobile robots. The proposed method uses a laser-based interferometer to measure distance precisely. Two variants of the proposed calibration method are examined: the two-parameter model and the three-parameter model. Experimental results obtained using a Khepera 3 mobile robot showed that both methods significantly increase accuracy of the pose estimation, validating the effectiveness of the proposed calibration method.

THE CALIBRATION OF AN ARRAY OF ACCELEROMETERS

2011 ◽  
Vol 35 (2) ◽  
pp. 251-267 ◽  
Author(s):  
Dany Dubé ◽  
Philippe Cardou
Keyword(s):  
Angular Velocity ◽  
Rigid Body ◽  
Least Squares ◽  
Calibration Method ◽  
Calibration Procedure ◽  
Rigid Bodies ◽  
New Method ◽  
Scale Factors ◽  
Array Calibration ◽  
The One

An accelerometer-array calibration method is proposed in this paper by which we estimate not only the accelerometer offsets and scale factors, but also their sensitive directions and positions on a rigid body. These latter parameters are computed from the classical equations that describe the kinematics of rigid bodies, and by measuring the accelerometer-array displacements using a magnetic sensor. Unlike calibration schemes that were reported before, the one proposed here guarantees that the estimated accelerometer-array parameters are globally optimum in the least-squares sense. The calibration procedure is tested on OCTA, a rigid body equipped with six biaxial accelerometers. It is demonstrated that the new method significantly reduces the errors when computing the angular velocity of a rigid body from the accelerometer measurements.

Localization of Mobile Robot Based on Least Square Method

2013 ◽  
Vol 347-350 ◽  
pp. 808-811
Author(s):  
Jia Lu Li ◽  
Lin Bing Long ◽  
Bao Feng Zhang
Keyword(s):  
Motion Estimation ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Least Squares ◽  
Least Square Method ◽  
Least Square ◽  
Experimental Results ◽  
Sift Algorithm ◽  
Key Techniques ◽  
Point Detection

Localization is the basis for navigation of mobile robots. This paper focuses on key techniques of localization for mobile robots based on vision. Firstly, the specific measures and steps of the algorithm are analyzed and researched in depth. In the study, SIFT algorithm combined with epipolar geometry constraint is used on the environment feature point detection, matching and tracking. And the method of RANSAC combined with the least squares is used to obtain accurate results of the motion estimation. Then the necessary experiments are carried out to verify the correctness and effectiveness of algorithms. The experimental results verified the accuracy of the improved algorithm.

Application of the partial least-squares calibration method to the simultaneous kinetic determination of propoxur, carbaryl, ethiofencarb and formetanate

The Analyst ◽  
1995 ◽  
Vol 120 (2) ◽  
pp. 313-317 ◽  
Author(s):  
J. M. García ◽  
A. I. Jiménez ◽  
J. J. Arias ◽  
Karim D. Khalaf ◽  
Angel Morales-Rubio ◽  
...  
Keyword(s):  
Least Squares ◽  
Partial Least Squares ◽  
Calibration Method ◽  
Kinetic Determination ◽  
Simultaneous Kinetic Determination

scholarly journals Calibration for Parameter Estimation of Signals with Complex Noise via Nonstationarity Measure

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Zhiming Zhou ◽  
Zhengyun Zhou ◽  
Liang Wu
Keyword(s):  
Parameter Estimation ◽  
Least Squares ◽  
Least Squares Method ◽  
Random Noise ◽  
Calibration Method ◽  
Numerical Studies ◽  
Chaotic Signals ◽  
Inaccurate Estimation ◽  
Non Gaussian ◽  
First Time

The signals in numerous complex systems of engineering can be regarded as nonlinear parameter trend with noise which is identically distributed random signals or deterministic stationary chaotic signals. The commonly used methods for parameter estimation of nonlinear trend in signals are mainly based on least squares. It can cause inaccurate estimation results when the noise is complex (such as non-Gaussian noise, strong noise, and chaotic noise). This paper proposes a calibration method for this issue in the case of single parameter via nonstationarity measure from the perspective of the stationarity of residual sequence. Some numerical studies are conducted for validation. Results of numerical studies show that the proposed calibration method performs well for various models with different noise strengths and types (including random noise and chaotic noise) and can significantly improve the accuracy of initial estimates obtained by least squares method. This is the first time that the nonstationarity measure is applied to the parameter calibration. All these results will be a guide for future studies of other parameter calibrations.

Least-squares calibration method for double-grating interferometers used in measurement of long-focal-length lenses

2019 ◽  
Vol 58 (23) ◽  
pp. 6370
Author(s):  
Yong He ◽  
Lei Chen ◽  
Yao Liu ◽  
Renhui Guo ◽  
Jianxin Li
Keyword(s):  
Least Squares ◽  
Focal Length ◽  
Calibration Method
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