Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Calibration of the internal and external parameters of wheeled robot
  mobile chasses and inertial measurement units based on nonlinear optimization   Mobile robot positioning, mapping, and navigation systems generally employ an
inertial measurement unit (IMU) to obtain the acceleration and angular velocity
of the robot. However, errors in the internal and external parameters of an IMU
arising from defective calibration directly affect the accuracy of robot
positioning and pose estimation. While this issue has been addressed by the
mature internal reference calibration methods available for IMUs, external
reference calibration methods between the IMU and the chassis of a mobile robot
are lacking. This study addresses this issue by proposing a novel chassis-IMU
internal and external parameter calibration algorithm based on nonlinear
optimization, which is designed for robots equipped with cameras, IMUs, and
wheel speed odometers, and functions under the premise of accurate calibrations
for the internal parameters of the IMU and the internal and external parameters
of the camera. All of the internal and external reference calibrations are
conducted using the robot's existing equipment without the need for additional
calibration aids. The feasibility of the method is verified by its application
to a Mecanum wheel omnidirectional mobile platform as an example, as well as
suitable for other type chassis of mobile robots. The proposed calibration
method is thereby demonstrated to guarantee the accuracy of robot pose
estimation.

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The categories of this paper are: hep-th
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The categories of this paper are: solv-int
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The categories of this paper are: atom-ph
30
The categories of this paper are: q-alg
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The categories of this paper are: dg-ga
17
The categories of this paper are: q-fin
35
The categories of this paper are: mtrl-th
2
The categories of this paper are: math
21
The categories of this paper are: adap-org
19
The categories of this paper are: eess
16
The categories of this paper are: stat
11
The categories of this paper are: hep-lat
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The categories of this paper are: bayes-an
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The categories of this paper are: gr-qc
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The categories of this paper are: nucl-ex
29
The categories of this paper are: funct-an