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Simultaneous calibration of odometry and camera extrinsic for a differential driven mobile robot

In this paper, a new method on simultaneous calibration of odometry and camera extrinsic for a two-wheel differential driven mobile robot equipped with a fixed pinhole camera, is proposed. By observing several vision landmarks in the environment and recording the measurements from both encoders and camera during an arbitrary robot motion, the calibration could be automatically done. Neither a special trajectory need to be followed, nor other devices are used during the calibration process. Compared with other current solutions, non-holonomic constraint of the mobile robot kinematics is utilized to estimate the wheel axle and simplify the calibration problem. Experiment is conducted to validate the method.