OptiOdom: Calibration of OptiTrack Motion Capture System

Calibration of OptiTrack Motion Capture System

The OptiTrack motion capture system is used in the experiments of OptiOdom as a ground-truth referencing system. The system is composed of 6 Flex3 InfraRed cameras that can locate the robot in an area of approximately 3x2.5m, although the total area available for the experiments is 6x2.5m.

This YouTube video presents the methodology to calibrate the OptiTrack system used in OptiOdom's experiments. In summary, you should follow the following steps:

1. Open the software Motive
2. Try to remove any physical elements that can introduce reflections in the views of the OptiTrack's cameras
3. Open the Camera Calibration menu
4. Clear mask (to remove masks from previous calibrations)
5. Mask visible (mask possible reflections that appear on the OptiTrack's cameras - e.g., due to solar reflections on the room's floor)
6. Start Wanding:
- start calibrating OptiTrack using the wand with 3 reflective markers
- go over the entire volume space that the OptiTrack's cameras can view
- perform motions in 8 with the
- stop when you see that most of the volume available has been passed with the calibration wand
7. Calculate calibration and apply the obtained results
8. Place the calibration plane on the room's floor
9. Select the 3 markers of the calibration plane on Motive
10. Set the Ground Plane
11. Save the calibration results



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OptiOdom: A Generic Approach for Odometry Calibration of Wheeled Mobile Robots

Reference:
Sousa, R.B., Petry, M.R., Costa, P.G. et al. OptiOdom: a Generic Approach for Odometry Calibration of Wheeled Mobile Robots. J Intell Robot Syst 105, 39 (2022). https://doi.org/10.1007/s10846-022-01...

Authors:
- Ricardo B. Sousa [orcid: 0000-0003-4537-5095]
- Marcelo R. Petry [orcid: 0000-0002-7023-8562]
- Paulo G. Costa [orcid: 0000-0002-4846-271X]
- António Paulo Moreira [orcid: 0000-0001-8573-3147]

Any questions feel free to ask by email:
[email protected]

Acknowledgments:
- CRIIS - Centre for Robotics in Industry and Intelligent Systems from INESC TEC - Institute for Systems and Computer Engineering, Technology and Science
- Faculty of Engineering, University of Porto (FEUP)