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A General Framework for Temporal Calibration of Multiple Proprioceptive and Exteroceptive Sensors,ted relative to one another. Full sensor-to-sensor calibration is a . problem: we require an accurate estimate of the relative timing of measurements for each pair of sensors, in addition to the 6-DOF sensor-to-sensor transform. In this paper, we examine the problem of determining the time delays be

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Calibrating a Multi-arm Multi-sensor Robot: A Bundle Adjustment Approach,ted both to the manipulators and to each other, since fused sensor data is often needed. We propose an extendable framework that combines measurements from the robot’s various sensors (proprioceptive and external) to calibrate the robot’s joint offsets and external sensor locations. Our approach is

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Using Near-Field Stereo Vision for Robotic Grasping in Cluttered Environments,ingle object, modeling uncertainties due to occluded surfaces, sensor noise and calibration errors can cause grasp failure; cluttered environments exacerbate the problem. In this work, we propose a simple but robust approach to both pre-touch grasp adjustment and grasp planning for unknown objects i

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