Niharika Arora (Fetch Robotics): Robot calibration

Looking foward to ROSCon 2017 we're highlighting presentations from last year. The ROSCon 2017 call for proposals is currently open as well as registration.

In this session Niharika Arora from gives an overview of how Fetch Robotics calibrates their robots using robot_calibration

Video

Abstract

Calibration is an essential prerequisite for nearly any robot. We have created a fast, accurate and robot­agnostic calibration system, which calibrates robot geometry in addition to the typical camera intrinsics and/or extrinsics. The system can be used with a variety of feature detectors to update the cost function and uses the CERES optimizer for the convex optimization. The system then creates an updated URDF containing the calibrated parameters. This talk will cover the details of the robot­agnostic robot_calibration package and describe its use in the fetch_calibration package which can calibrate dozens of parameters on a Fetch robot in as little as 3 minutes.

Slides

View the slides here

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This page contains a single entry by Tully Foote published on June 14, 2017 1:56 PM.

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