文件名称：移动机器人传感器位姿标定
文件大小：332KB
文件格式：RAR
更新时间：2022-02-12 10:22:27
移动机器人
This paper describes a new methodology for calculating the translational and rotational offsets of a range sensor to a reference coordinate frame on the platform to which it is affixed. The technique consists of observing an environment of known or partially known geometry, from which the offsets are determined by minimizing the error between the sensed data and the known structure. Analytic results are presented which derive the necessary conditions for a successful optimisation. Practical results confirm the analysis and show that it is possible to obtain more precise results than those obtained through hand measurement.
【文件预览】：
Sensor_calibration.pdf