Simultaneous Intrinsic and Extrinsic Parameter Identification of a Hand-Mounted Laser-Vision Sensor

Sensors

Jong Kwang Lee²  Kiho Kim²  Yongseok Lee¹ 

[1] Department of Electronic Engineering, Myongji University, Yongin-city, 449-728, Korea; E-Mail:;Fuel Cycle System Engineering Technology Development Division, Korea Atomic Energy Research Institute, Daejeon, 305-353, Korea; E-Mails:

关键词: hand-mounted laser-vision sensor;    parameter identification;    particle swarm optimization;   

DOI  :  10.3390/s110908751

来源: mdpi

【 摘 要 】

In this paper, we propose a simultaneous intrinsic and extrinsic parameter identification of a hand-mounted laser-vision sensor (HMLVS). A laser-vision sensor (LVS), consisting of a camera and a laser stripe projector, is used as a sensor component of the robotic measurement system, and it measures the range data with respect to the robot base frame using the robot forward kinematics and the optical triangulation principle. For the optimal estimation of the model parameters, we applied two optimization techniques: a nonlinear least square optimizer and a particle swarm optimizer. Best-fit parameters, including both the intrinsic and extrinsic parameters of the HMLVS, are simultaneously obtained based on the least-squares criterion. From the simulation and experimental results, it is shown that the parameter identification problem considered was characterized by a highly multimodal landscape; thus, the global optimization technique such as a particle swarm optimization can be a promising tool to identify the model parameters for a HMLVS, while the nonlinear least square optimizer often failed to find an optimal solution even when the initial candidate solutions were selected close to the true optimum. The proposed optimization method does not require good initial guesses of the system parameters to converge at a very stable solution and it could be applied to a kinematically dissimilar robot system without loss of generality.

【 授权许可】

CC BY   
© 2011 by the authors; licensee MDPI, Basel, Switzerland.