Article: Calibration between gimbal camera and UWB anchor based on non-convex optimisation Journal: International Journal of Systems, Control and Communications (IJSCC) 2025 Vol.16 No.3 pp.261 - 274 Abstract: In recent years, with the development of mobile robot technology, ultra-wide band (UWB) sensors consisting of anchors and tags, along with cameras, have been increasingly and widely used in the perception modules of robots. In response to the field of view (FOV) problem caused by the commonly used fixed cameras, this paper proposes a camera system with a one-dimensional gimbal, aiming to solve the data fusion problem between the gimbal camera and the UWB system. In this study, we address the limited (FOV) challenge posed by gimbal cameras in mobile robot perception systems. Here, we present an offline calibration method for the camera and UWB sensors, which utilises an Aruco (Ar) marker-based calibration plate and an optimisation method to obtain the external parameters of the sensors. The contributions of this work include the advancement of sensor calibration for mobile robotics and the enhancement of perception capabilities through the fusion of gimbal camera and UWB data. Inderscience Publishers - linking academia, business and industry through research

Title: Calibration between gimbal camera and UWB anchor based on non-convex optimisation

Authors: Jun Ma; Yaojun Zhou; Fei Lu; Xiaoming Xu; Yang Li; Keke Zhang

Addresses: East China Power Transmission and Transformation Engineering Company, Shanghai, China ' State Grid Shanghai Electric Power Company, Shanghai, China ' East China Power Transmission and Transformation Engineering Company, Shanghai, China ' State Grid Shanghai Electric Power Company, Shanghai, China ' State Grid Shanghai Electric Power Company, Shanghai, China ' East China Power Transmission and Transformation Engineering Company, Shanghai, China

Abstract: In recent years, with the development of mobile robot technology, ultra-wide band (UWB) sensors consisting of anchors and tags, along with cameras, have been increasingly and widely used in the perception modules of robots. In response to the field of view (FOV) problem caused by the commonly used fixed cameras, this paper proposes a camera system with a one-dimensional gimbal, aiming to solve the data fusion problem between the gimbal camera and the UWB system. In this study, we address the limited (FOV) challenge posed by gimbal cameras in mobile robot perception systems. Here, we present an offline calibration method for the camera and UWB sensors, which utilises an Aruco (Ar) marker-based calibration plate and an optimisation method to obtain the external parameters of the sensors. The contributions of this work include the advancement of sensor calibration for mobile robotics and the enhancement of perception capabilities through the fusion of gimbal camera and UWB data.

Keywords: ultra-wideband sensor; gimbal camera; external parameter calibration; optimisation; azimuth of arrival base station.

DOI: 10.1504/IJSCC.2025.147363

International Journal of Systems, Control and Communications, 2025 Vol.16 No.3, pp.261 - 274

Received: 28 Nov 2024
Accepted: 17 Feb 2025
Published online: 14 Jul 2025 *

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Title: Calibration between gimbal camera and UWB anchor based on non-convex optimisation

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