Automatic Camera and Kinematic Calibration of a Complex Service Robot

  • Sebastian A. Haug
  • Florian Weisshardt
  • Alexander Verl
Conference paper
Part of the Informatik aktuell book series (INFORMAT)

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.

Keywords

Calibration Process Camera Calibration Kinematic Chain Configuration File Service Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Sebastian A. Haug
    • 1
  • Florian Weisshardt
    • 1
  • Alexander Verl
    • 1
  1. 1.Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Robot and Assistive Systems—Service Robot ApplicationsStuttgartGermany

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