Fraunhofer-Gesellschaft

Publica

Hier finden Sie wissenschaftliche Publikationen aus den Fraunhofer-Instituten.

Using range imaging sensors with color imaging sensors in cognitive robot companions: A new and simple calibration technique based on particle swarm optimization

 
: Kubacki, J.; Pfeiffer, K.

Ingensand, H.; Kahlmann, Timo ; TH Zürich -ETH-:
1st Range Imaging Research Day. Proceedings : September 8/9, 2005 at ETH Zürich, Switzerland
Zürich, 2005
ISBN: 3-906467-57-0
S.43-57
Range Imaging Research Day <1, 2005, Zürich>
Englisch
Konferenzbeitrag
Fraunhofer IPA ()
calibration; particle swarm optimization; robot assistant; cognitive robot companion; range imaging; Assistenzroboter; imaging; Kalibrieren; Sensor

Abstract
A cognitive robot companion needs sensors in order to enhance its perseptual capabilities. Using different types of sensors in different mechanical settings there is a need to find suitable calibration can be performed between system components or relative to some global reference frame. In this paper we describe a method that can lead to useful calibration models in a generic manner. A particle swarm optimization algorithm is used to optimize a parameter set and suggest methods to reduce or to refine the calibration model iteratively. Relevant equitations do not have to be reformulated as a system of equations and there is no principal restriction on the class of equations. The proposed method is applied to calibrate a new bi-modal sensor head in two different ways: directly between two sensors and to real-world coordinates.

: http://publica.fraunhofer.de/dokumente/N-33753.html