In the context of robotics, accurate ground-truth positioning is the cornerstone for the development of mapping and localization algorithms. In outdoor environments and over long distances, total stations provide accurate and precise measurements, that are unaffected by the usual factors that deteriorate the accuracy of Global Navigation Satellite System (GNSS). While a single robotic total station can track the position of a target in three Degrees Of Freedom (DOF), three robotic total stations and three targets are necessary to yield the full six DOF pose reference. Since it is crucial to express the position of targets in a common coordinate frame, we present a novel extrinsic calibration method of multiple robotic total stations with field deployment in mind. The proposed method does not require the manual collection of ground control points during the system setup, nor does it require tedious synchronous measurement on each robotic total station. Based on extensive experimental work, we compare our approach to the classical extrinsic calibration methods used in geomatics for surveying and demonstrate that our approach brings substantial time savings during the deployment. Tested on more than 30 km of trajectories, our new method increases the precision of the extrinsic calibration by 25 % compared to the best state-of-the-art method, which is the one taking manually static ground control points.
翻译:在机器人方面,准确的地面真相定位是制定绘图和地方化算法的基石;在室外环境和长途中,总台站提供准确和精确的测量,不受破坏全球导航卫星系统(GNSS)精确度的通常因素的影响;虽然一个单一的机器人总台站可以在三个自由度(DOF)中跟踪目标的位置,但需要三个机器人总站和三个目标才能产生完整的6个DOF的参照;由于在共同的协调框架内表达目标位置至关重要,我们提出了一套具有实地部署意识的多个机器人总台站的新型外部校准方法;拟议方法不需要在系统设置期间手工收集地面控制点,也不需要在每一个机器人总站上进行有重复的同步测量。根据广泛的实验工作,我们将我们的方法与用于测量的地质学传统外行校准方法进行比较,并表明我们的方法在部署期间节省了大量时间。在超过30公里的轨迹上测试了具有实地部署功能的多个机器人总台站的外校准方法。拟议方法不需要在系统设置期间人工收集地面控制点,也不需要每个机器人总站点的同步测量点,也不需要每个机器人总站点的同步测量。根据广泛的实验,我们最精确的地面校准方法将一个点提高到25。