Abstract
Robots designed for outdoor use in an outdoor environment should be able to autonomously travel using multi-modal sensors. For autonomous navigation, it is a need for a calibration method that employs a multi-modal sensors for integrates all sensor coordinate systems. In this paper, we propose a corporate calibration method using a multi-modal sensor module. For this purpose, we use a grid pattern can be extracted from various sensor data and the coordinate system for each sensors is integrated based on the correspondence of extracted corner points using pattern information. The proposed framework has been tested extensively in actual outdoor scenes with our self-developed multi-modal sensor module. The experimental results validate its usefulness and efficiency.
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Acknowledgement
This work was supported by the Korean Evaluation Institute of Industrial Technology and conducted by the Ministry of Industry and Commerce in 2017 (Industrial Core Technology Development Project, Project Number 10080489).
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Uhm, T., Bae, GD., Lee, J., Choi, YH. (2019). Multi-modal Sensor Calibration Method for Intelligent Unmanned Outdoor Security Robot. In: Hwang, S., Tan, S., Bien, F. (eds) Proceedings of the Sixth International Conference on Green and Human Information Technology. ICGHIT 2018. Lecture Notes in Electrical Engineering, vol 502. Springer, Singapore. https://doi.org/10.1007/978-981-13-0311-1_36
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DOI: https://doi.org/10.1007/978-981-13-0311-1_36
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