An automatic calibration method for a multisensor system: application to a mobile robot localization system

This paper describes an automatic calibration method for a multisensor system. Redundancy of sensor measurements is exploited in order to identify a priori unknown system parameters. The calibration method presented does not need any external reference, but is only based on constraint functions which describe the relations existing between the different sensor outputs. An application to a mobile robot dead reckoning localization system is developed, and validated by some experimental results.