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OmniCalib: Target-Free, Task-Structured Self-Calibration for Humanoid Robots

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Assembly, wear, and component replacement perturb the sensor extrinsics and joint zeros encoded by a humanoid CAD model. Existing procedures calibrate one sensor pair or require external fiducials. Using only robot-native motion and onboard sensing, we present OmniCalib, a target-free workflow that calibrates the full upper limbs---all 14 arm joint zeros and the extrinsics of both wrist and chest cameras---as well as lower limbs and the multi-camera head rig. Each module matches a robot-native task to a parameter block, checks observability, and writes only supported corrections to the CAD mod

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