Dead-Reckoning Error Calibration using Celling Looking Vision Camera

This paper suggests a calibration method to reduce errors occurring due to mobile robot sliding during location estimation using the Dead-reckoning. Due to sliding of the mobile robot caused between its wheels and the road surface while on free run, location estimation can be erroneous. Sliding especially occurs during cornering of mobile robot. Therefore, in order to reduce these frequent sliding errors in cornering, we calibrated the mobile robot-s heading values using a vision camera and templates of the ceiling.

Authors:

• Jae-Young Choi
• Sung-Gaun Kim

Keywords:

• Dead-reckoning
• Localization
• Odomerty
• Vision Camera

References:

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