Online Joint Calibration of Steering Offset and Planar LiDAR Extrinsics for Wheeled Mobile Robots
Industry
Source: arXiv cs.ROPublish time unverified
arXiv:2608.26789v1 Announce Type: new Abstract: Accurate steering sensing and LiDAR-to-vehicle extrinsics are crucial for reliable path tracking in warehouse mobile robots (WMRs); miscalibration often leads to snaking, weaving, and elevated cross-track error (CTE). In practice, steering ``zero'' is commonly set manually (e.g., eyeballing straightness via a PS4 joystick), while LiDAR extrinsics are assumed from CAD and may drift after maintenance.