Multi-modal Sensor Calibration Method for Intelligent Unmanned Outdoor Security Robot

Robots designed for outdoor use in an outdoor environment should be able to autonomously travel using multi-modal sensors. For autonomous navigation, it is a need for a calibration method that employs a multi-modal sensors for integrates all sensor coordinate systems. In this paper, we propose a corporate calibration method using a multi-modal sensor module. For this purpose, we use a grid pattern can be extracted from various sensor data and the coordinate system for each sensors is integrated based on the correspondence of extracted corner points using pattern information. The proposed framework has been tested extensively in actual outdoor scenes with our self-developed multi-modal sensor module. The experimental results validate its usefulness and efficiency.