Journal of Bionic Engineering ›› 2022, Vol. 19 ›› Issue (2): 299-313.doi: 10.1007/s42235-022-00163-7
• • 上一篇
High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System
Yinlong Zhang1,2,3, Wei Liang1,2,3, Sichao Zhang1,2,3, Xudong Yuan1,2,3, Xiaofang Xia4, Jindong Tan5, Zhibo Pang6
- 1 State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2 Key Laboratory of Networked Control Systems, Chinese Academy of Sciences, Shenyang 110016, China 3 Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 4 The School of Computer Science and Technology, Xidian University, Xi’an 710071, China 5 Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Konxville 37996, USA 6 Department of Automation Technology, ABB Corporate Research Sweden, 72178 V?ster?s, Sweden
High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System
Yinlong Zhang1,2,3, Wei Liang1,2,3, Sichao Zhang1,2,3, Xudong Yuan1,2,3, Xiaofang Xia4, Jindong Tan5, Zhibo Pang6
- 1 State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2 Key Laboratory of Networked Control Systems, Chinese Academy of Sciences, Shenyang 110016, China 3 Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 4 The School of Computer Science and Technology, Xidian University, Xi’an 710071, China 5 Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Konxville 37996, USA 6 Department of Automation Technology, ABB Corporate Research Sweden, 72178 Västerås, Sweden
摘要： Inspired by box jellyfish that has distributed and complementary perceptive system, we seek to equip manipulator with a camera and an Inertial Measurement Unit (IMU) to perceive ego motion and surrounding unstructured environment. Before robot perception, a reliable and high-precision calibration between camera, IMU and manipulator is a critical prerequisite. This paper introduces a novel calibration system. First, we seek to correlate the spatial relationship between the sensing units and manipulator in a joint framework. Second, the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw–pitch–roll rotations and x–y–z translations in a repeatable and consistent manner. The calibration has been evaluated on our collected visual inertial-manipulator dataset. The systematic comparisons and analysis indicate the consistency, precision and effectiveness of our proposed calibration method.