Bruno Filipe Silva

Mr. Bruno Filipe Silva

orcid

Research Focus & Metrics

Academic Career Length

2Years (2025-Present)

(Calculated once Scilit publication data is synced: current year − year of first publication + 1)

Representative Publications

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16 April 2025 in Sensors
Verified
Journal Article
Open access
PDF file
BSBruno Filipe Silva
Bruno Filipe Silva
DVDiogo Vieira
Diogo Vieira
Manuel GomesManuel Gomes
Manuel Gomes
MOMiguel Oliveira
Miguel Oliveira
EPEurico Pedrosa
Eurico Pedrosa
The calibration of mobile manipulators requires accurate estimation of both the transformations provided by the localization system and the transformations between sensors and the motion coordinate system. Current works offer limited flexibility when dealing with mobile robotic systems with many different sensor modalities. In this work, we propose a calibration approach that simultaneously estimates these transformations, enabling precise calibration even when the localization system is imprecise. This approach is integrated into Atomic Transformations Optimization Method (ATOM), a versatile calibration framework designed for multi-sensor, multi-modal robotic systems. By formulating calibration as an extended optimization problem, ATOM estimates both sensor poses and calibration pattern positions. The proposed methodology is validated through simulations and real-world case studies, demonstrating its effectiveness in improving calibration accuracy for mobile manipulators equipped with diverse sensor modalities.