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cs.RO2026
Observability Analysis of Joint Steering and Extrinsic Calibration
Subodh Mishra
This technical report studies the local weak observability of a planar bicycle-model vehicle when vehicle pose, planar LiDAR extrinsic calibration, and steering-angle bias are esti…
cs.RO2026
Online Joint Calibration of Steering Offset and Planar LiDAR Extrinsics for Wheeled Mobile Robots
Subodh Mishra, Arindam Dhar, Suprotim Majumdar +1
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,…