Robot-Assisted Sensor Calibration
Published:
Challenge
Low-cost time-of-flight sensors are useful only when their pose relative to the system is known accurately. Manual calibration is slow and difficult to validate consistently.
System
I developed an automated extrinsic-calibration workflow for VL53L3CX and VL6180X sensors using ROS, Gazebo, and a UR5 arm.
Result
The workflow achieved positional accuracy of 3.18 mm and 7.29 mm and orientation accuracy of 0.61° and 2.01° across the two sensor models. End-to-end pose validation through 3D reconstruction produced residual errors below 2 mm on unseen planar targets.