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auto extrinsic calibration

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Position-Based Visual Servoing of a Mobile Robot with an Automatic Extrinsic Calibration Scheme
Radhe Shyam Sharma, Santosh Shukla, Laxmidhar Behera, Venkatesh K. Subramanian
Journal:

Robotica / Volume 38 / Issue 5 / May 2020

Published online by Cambridge University Press:

24 July 2019, pp. 831-844
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In this paper, we present and implement a novel approach for position-based visual servoing. The challenge of controlling the mobile robot while simultaneously estimating the camera to mobile robot transformation is solved. This is achieved using gradient descent (GD)-based estimation and the sliding-mode approach. The GD approach allows online parameter estimation for controlling the robot to achieve a desired position and orientation. The adaptive nature of the parameters demonstrates the robustness of the system. In contrast to existing work, the proposed technique achieves both estimation and control tasks in a single experiment. Simulation and experimental results are provided to validate the performance of the proposed scheme.