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

  • Hyoung-Ki Lee
  • Kiwan Choi
  • Jiyoung Park
  • Hyun Myung
Regular Papers Robotics and Automation

Abstract

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.

Keywords

Feature initialization gyro Kalman filter scale factor self-calibration SLAM 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg  2012

Authors and Affiliations

  • Hyoung-Ki Lee
    • 1
  • Kiwan Choi
    • 1
  • Jiyoung Park
    • 1
  • Hyun Myung
    • 2
  1. 1.MS Lab. of Samsung Advanced Institute of TechnologySamsung Electronics Co., Ltd.Gyeonggi-doKorea
  2. 2.Dept. of Civil & Environmental EngineeringKAISTDaejeonKorea

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