Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

Yinlong Zhang; Wei Liang; Mingze Yuan; Hongsheng He; Jindong Tan; Zhibo Pang

doi:10.1109/JAS.2021.1004290

Volume 9 Issue 1

Jan. 2022

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2022 > 9(1): 146-159

Y. L. Zhang, W. Liang, M. Z. Yuan, H. S. He, J. D. Tan, and Z. B. Pang, “Monocular visual-inertial and robotic-arm calibration in a unifying framework,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 1, pp. 146–159, Jan. 2022. doi: 10.1109/JAS.2021.1004290

Citation:

Y. L. Zhang, W. Liang, M. Z. Yuan, H. S. He, J. D. Tan, and Z. B. Pang, “Monocular visual-inertial and robotic-arm calibration in a unifying framework,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 1, pp. 146–159, Jan. 2022. doi: 10.1109/JAS.2021.1004290

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

doi: 10.1109/JAS.2021.1004290

Yinlong Zhang^{1, 2, 3
,},
Wei Liang^{1, 2, 3
,
,},
Mingze Yuan^{1, 2, 3
,},
Hongsheng He^4
,,
Jindong Tan^5
,,
Zhibo Pang^{6, 7
,}

1.
Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.
Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
4.
School of Computing, Wichita State University, Wichita 67260 USA
5.
Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, TN 37996 USA
6.
Department of Automation Technology, ABB Corporate Research Sweden, Vasteras 72178, Sweden
7.
Department of Intelligent Systems, Royal Institute of Technology (KTH), Stockholm 11428, Sweden

Funds: This work was supported by the International Partnership Program of Chinese Academy of Sciences (173321KYSB20180020, 173321KYSB20200002), the National Natural Science Foundation of China (61903357, 62022088), Liaoning Provincial Natural Science Foundation of China (2020-MS-032, 2019-YQ-09, 2020JH2/10500002, 2021JH6/10500114), LiaoNing Revitalization Talents Program (XLYC1902110), China Postdoctoral Science Foundation (2020M672600), and the Swedish Foundation for Strategic Research (APR20-0023)

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Author Bio:
Yinlong Zhang (Member, IEEE) received the Ph.D. degree in control theory and control engineering from Shenyang Institute of Automation, Chinese Academy of Sciences in 2019. He was a visiting student with the Department of Mechanical, Aerospace and Biomedical Engineering, The University of Tennessee, USA, from 2016 to 2017. He is currently an Associate Professor with Shenyang Institute of Automation, Chinese Academy of Sciences. His research interests are multi-source data fusion, machine learning, and computer vision

Wei Liang (Senior Member, IEEE) received the Ph.D. degree in mechatronic engineering from Shenyang Institute of Automation, Chinese Academy of Sciences in 2002. She is currently a Professor with Shenyang Institute of Automation, Chinese Academy of Sciences. As a Primary Participant/a Project Leader, she developed the WIA-PA and WIA-FA standards for industrial wireless networks, which are specified by IEC 62601 and IEC 62948, respectively. Her research interests include industrial wireless sensor networks and wireless network security. Dr. Liang received the International Electrotechnical Commission 1906 Award in 2015 as a Distinguished Expert of industrial wireless network technology and standard

Mingzhe Yuan received the B.Eng. degree in automatic control from Harbin Engineering University in 1993, and M.Eng. degree & Ph.D. degree in mechatronic engineering from Shenyang Institute of Automation, Chinese Academy of Sciences, in 2000 and 2006, respectively. He is currently a Professor with Shenyang Institute of Automation, Chinese Academy of Sciences. His research interests include distributed control system, plant energy management and optimization, environment surveillance, and pollution protection

Hongsheng He (Senior Member, IEEE) received the Ph.D. degree in electrical and computer engineering from the National University of Singapore, Singapore, in 2012. He was a Research Associate II with the Department of Mechanical, Aerospace and Biomedical Engineering, The University of Tennessee, USA. He is currently an Assistant Professor with the School of Computing, Wichita State University, USA. His research interests are intelligent robotics, artificial intelligence, and machine learning

Jindong Tan (Member, IEEE) received the Ph.D. degree in electrical and computer engineering from Michigan State University, USA, in 2002. He is currently a Professor with the Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, USA. He has been an Assistant/Associate Professor with the Department of Electrical and Computer Engineering, Michigan Technological University, USA. His current research interests include surgical robotics, augmented reality and biomedical imaging, dietary assessment, and mobile manipulation

Zhibo Pang (Senior Member, IEEE) received MBA in innovation and growth from University of Turku in 2012, and Ph.D. degree in electronic and computer systems from the Royal Institute of Technology (KTH) in 2013. He is currently a Senior Principal Scientist at ABB Corporate Research Sweden, Adjunct Professor at University of Sydney, and Affiliated Faculty at the Royal Institute of Technology (KTH). He is a Senior Member of IEEE and Co-Chair of the Technical Committee on Industrial Informatics. He is Associate Editor of IEEE Transactions on Industrial Informatics, IEEE Journal of Biomedical and Health Informatics, and IEEE Journal of Emerging and Selected Topics in Industrial Electronics. He was Invited Speaker at the Gordon Research Conference on Advanced Health Informatics (AHI2018), General Chair of IEEE ES2017, and General Co-Chair of IEEE WFCS2021. He was awarded the “2016 Inventor of the Year Award” and “2018 Inventor of the Year Award” by ABB Corporate Research Sweden
Corresponding author: Wei Liang, e-mail: weiliang@sia.cn
Received Date: 2021-04-26
Accepted Date: 2021-05-21

Available Online: 2021-07-01

Abstract

Abstract

Reliable and accurate calibration for camera, inertial measurement unit (IMU) and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment perception. However, traditional calibrations suffer inaccuracy and inconsistency. To address these problems, this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying framework. In our method, the spatial relationship is geometrically correlated between the sensing units and robotic arm. The decoupled estimations on rotation and translation could reduce the coupled errors during the optimization. Additionally, the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and consistently. The calibration has been evaluated on our developed platform. In the experiments, the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7° and 0.01 m, respectively. The comparisons with state-of-the-art results prove our calibration consistency, accuracy and effectiveness.
- Calibration,
- inertial measurement unit (IMU),
- monocular camera,
- robotic arm,
- spiral moving trajectory

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References(53)

References

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Visual-inertial and robotic-arm calibration in a unifying framework
Spiral moving trajectory for consistent and repeatable calibration
The spatial relationship is geometrically correlated between the sensing units and robotic arm

Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

doi: 10.1109/JAS.2021.1004290

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通讯作者: 陈斌, bchen63@163.com

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