Calibration of rotating 2D LIDAR based on simple plane measurement

Calibration of rotating 2D LIDAR based on simple plane measurement PurposeThis paper aims to calibrate the mounted parameters between the LIDAR and the motor in a low-cost 3D LIDAR device. It proposes the model of the aimed 3D LIDAR device and analyzes the influence of all mounted parameters. The study aims to find a way more accurate and simple to calibrate those mounted parameters.Design/methodology/approachThis method minimizes the coplanarity and area of the plane scanned to estimate the mounted parameters. Within the method, the authors build different cost function for rotation parameters and translation parameters; thus, the parameter estimation problem of 4-degree-of-freedom (DOF) is decoupled into 2-DOF estimation problem, achieving the calibration of these two types of parameters.FindingsThis paper proposes a calibration method for accurately estimating the mounted parameters between a 2D LIDAR and rotating platform, which realizes the estimation of 2-DOF rotation parameters and 2-DOF translation parameters without additional hardware.Originality/valueUnlike previous plane-based calibration techniques, the main advantage of the proposed method is that the algorithm can estimate the most and more accurate parameters with no more hardware. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Sensor Review Emerald Publishing

Calibration of rotating 2D LIDAR based on simple plane measurement

Sensor Review, Volume 39 (2): 9 – Mar 7, 2019

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Publisher
Emerald Publishing
Copyright
Copyright © Emerald Group Publishing Limited
ISSN
0260-2288
DOI
10.1108/SR-11-2017-0237
Publisher site
See Article on Publisher Site

Abstract

PurposeThis paper aims to calibrate the mounted parameters between the LIDAR and the motor in a low-cost 3D LIDAR device. It proposes the model of the aimed 3D LIDAR device and analyzes the influence of all mounted parameters. The study aims to find a way more accurate and simple to calibrate those mounted parameters.Design/methodology/approachThis method minimizes the coplanarity and area of the plane scanned to estimate the mounted parameters. Within the method, the authors build different cost function for rotation parameters and translation parameters; thus, the parameter estimation problem of 4-degree-of-freedom (DOF) is decoupled into 2-DOF estimation problem, achieving the calibration of these two types of parameters.FindingsThis paper proposes a calibration method for accurately estimating the mounted parameters between a 2D LIDAR and rotating platform, which realizes the estimation of 2-DOF rotation parameters and 2-DOF translation parameters without additional hardware.Originality/valueUnlike previous plane-based calibration techniques, the main advantage of the proposed method is that the algorithm can estimate the most and more accurate parameters with no more hardware.

Journal

Sensor ReviewEmerald Publishing

Published: Mar 7, 2019

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