Calibration between gimbal camera and UWB anchor based on non-convex optimisation

In recent years, with the development of mobile robot technology, ultra-wide band (UWB) sensors consisting of anchors and tags, along with cameras, have been increasingly and widely used in the perception modules of robots. In response to the field of view (FOV) problem caused by the commonly used fixed cameras, this paper proposes a camera system with a one-dimensional gimbal, aiming to solve the data fusion problem between the gimbal camera and the UWB system. In this study, we address the limited (FOV) challenge posed by gimbal cameras in mobile robot perception systems. Here, we present an offline calibration method for the camera and UWB sensors, which utilises an Aruco (Ar) marker-based calibration plate and an optimisation method to obtain the external parameters of the sensors. The contributions of this work include the advancement of sensor calibration for mobile robotics and the enhancement of perception capabilities through the fusion of gimbal camera and UWB data.