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.
基金
supported by the National Natural Science Foundation of China(61903357,61902299,62022088)
the International Partnership Program of Chinese Academy of Sciences(173321KYSB20200002)
Liaoning Provincial Natural Science Foundation of China(2020-MS-032,2021JH6/10500114,2020JH2/10500002)
Guangzhou Science and Technology Planning Project(202102021300)
China Postdoctoral Science Foundation(2019TQ0239,2019M663636).
