標題: Calibration and on-line data selection of multiple optical flow sensors for odometry applications
作者: Hu, Jwu-Sheng
Chang, Yung-Jung
Hsu, Yu-Lun
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: Optical flow sensor;Optical mouse;Odometry;Multiple sensors;Calibration;Data selection
公開日期: 15-一月-2009
摘要: This work proposes a calibration method and a computational algorithm to integrate the data of multiple optical flow sensors for two-dimensional trajectory measurements. Optical flow sensors offer a different kind of odometer as compared to the wheel encoder. Using multiple sensors can reduce the effect of measurement uncertainties. Since all sensors are mounted on a rigid body, their measurement data must obey a certain relation. which is utilized in this work. Additionally, mathematical formulae are developed to realize the computation. Analytical results show that the calibration procedure can be cast as an optimization problem given measurement data. Furthermore, the rigid-body relation is formulated as a null-space constraint using the calibrated parameters. Unreliable sensor measurements can be removed during operation by accessing the error distance to the null space. Experimental results are presented to support the proposed methods. (C) 2008 Elsevier B.V. All rights reserved.
URI: http://dx.doi.org/10.1016/j.sna.2008.10.003
http://hdl.handle.net/11536/7742
ISSN: 0924-4247
DOI: 10.1016/j.sna.2008.10.003
期刊: SENSORS AND ACTUATORS A-PHYSICAL
Volume: 149
Issue: 1
起始頁: 74
結束頁: 80
顯示於類別:期刊論文


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  1. 000263253200011.pdf