Extrinsic Calibration of 2D Laser Sensors

Title
Extrinsic Calibration of 2D Laser Sensors
Authors
Dong-Geol ChoiYunsu Bok김준식In So Kweon
Keywords
Laser range finder; Registration; Calibration
Issue Date
2014-06
Publisher
ICRA (IEEE International Conference on Robotics and Automation)
Citation
, 3027-3033
Abstract
This paper describes a new methodology for estimating a relative pose of two 2D laser sensors. Two dimensional laser scan points do not have enough feature information for motion tracking. For this reason, additional image sensors or artificial landmarks have been used to find a relative pose. We propose the method to estimate a relative pose of 2D laser sensors without any additional sensor or artificial landmark. By scanning two orthogonal planes, we utilize only the coplanarity of the scan points on each plane and the orthogonality of the plane normals. Experiments with both synthetic and real data show the validity of the proposed method. To the best of our knowledge this works provides the first solution for the problem.
URI
http://pubs.kist.re.kr/handle/201004/47842
Appears in Collections:
KIST Publication > Conference Paper
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE