====== Self-Contained Multisensorial Calibration ======

The goal of this lab is to teach you about self-contained calibration of the robots and refresh your knowledge about numerical optimization. The presentation can be found [[https://docs.google.com/presentation/d/185K8CH89EG6ilZc_FyQYV1Wnln4Ke3rI1ECHiFygzn0/edit?usp=sharing|here]].

Calibration papers from our group:  

[[https://ieeexplore.ieee.org/document/9555803|J. Rozlivek, L. Rustler, K. Stepanova and M. Hoffmann, "Multisensorial robot calibration framework and toolbox," 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021, pp. 459-466.]]  

[[https://www.sciencedirect.com/science/article/pii/S0736584521001307?via=ihub|K. Stepanova, J. Rozlivek, F. Puciow, P. Krsek, T. Pajdla, M. Hoffmann, Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation, Robotics and Computer-Integrated Manufacturing, Volume 73, 2022.]] 

[[https://ieeexplore.ieee.org/document/8637801|K. Stepanova, T. Pajdla and M. Hoffmann, "Robot Self-Calibration Using Multiple Kinematic Chains—A Simulation Study on the iCub Humanoid Robot," in IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1900-1907, April 2019.]] 

[[https://ieeexplore.ieee.org/document/6907178|A. Roncone, M. Hoffmann, U. Pattacini and G. Metta, "Automatic kinematic chain calibration using artificial skin: Self-touch in the iCub humanoid robot," 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014, pp. 2305-2312.]]  

[[https://ieeexplore.ieee.org/document/9555806|L. Rustler, B. Potocna, M. Polic, K. Stepanova and M. Hoffmann, "Spatial calibration of whole-body artificial skin on a humanoid robot: comparing self-contact, 3D reconstruction, and CAD-based calibration," 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021, pp. 445-452.]]

===== Matlab =====

If you don't have Matlab, you can install it from [[https://download.cvut.cz/en/campus-wide-matlab/|CTU download page]]. For //lsqnonlin//, you also need to install the Optimization toolbox and Symbolic toolbox (all is included in the campus-wide license). If you do not want to install anything, you can use [[https://matlab.mathworks.com|Matlab online]]. However, you still need to activate your Mathworks account as described on [[https://download.cvut.cz/en/campus-wide-matlab/|CTU download page]]. There are instructions in this [[https://www2.humusoft.cz/download/CVUT/MATLAB_instalace_Automaticka_CVUT_EN.pdf | PDF]] or go straight to  [[https://www.mathworks.com/academia/tah-portal/ceske-vysoke-uceni-technicke-v-praze-31445845.html|Connect page]] and connect your MathWorks account with CTU license.
<note important>There is no hardware acceleration support in Matlab Online, so some 3D plots may be slow.</note>

===== Links =====
**lsqnonlin library** - [[https://www.mathworks.com/help/optim/ug/lsqnonlin.html|Matlab documentation]]  

**Numeric methods textbook** - [[https://cw.fel.cvut.cz/wiki/_media/courses/b0b33opt/opt.pdf|OPT webpage]]

**Matlab scripts for LM algorithm ** - [[https://gitlab.fel.cvut.cz/body-schema/teaching/b3m33hro-labs/-/tree/main/lab5/LM|Gitlab]]