Method and system for calibrating a network of multiple horizontally scanning range finders
A method and a system for calibrating a network of multiple range finders are disclosed. In an embodiment, the method includes performing a measurement with the range finders during a movement of an object through an area covered by the network, identifying, for each range finder, data sets of the m...
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| creator | Röwekämper, Jörg Ruhnke, Michael Tipaldi, Gian Diego Steder, Bastian Burgard, Wolfram |
| description | A method and a system for calibrating a network of multiple range finders are disclosed. In an embodiment, the method includes performing a measurement with the range finders during a movement of an object through an area covered by the network, identifying, for each range finder, data sets of the measurement associated with the moving object, based on a static analysis of the respective range finder, determining, for each pair of overlapping range finders, an estimated relative transformation between respective poses of the pair, based on the identified data sets of the pair, determining an initial maximum likelihood configuration of poses of all of the range finders based on the estimated relative transformations of each pair and iteratively determining sets of point correspondences of the identified data sets and if a distance of the points in the pair is below a threshold, the threshold being redefined decreasingly for each iteration. |
| format | Patent |
| fullrecord | <record><control><sourceid>epo_EVB</sourceid><recordid>TN_cdi_epo_espacenet_US10444332B2</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>US10444332B2</sourcerecordid><originalsourceid>FETCH-epo_espacenet_US10444332B23</originalsourceid><addsrcrecordid>eNqNzLENwjAQQFE3FAjY4RgACWJPQASioQIqiuiIz4mFc2fZRihMD0gMQPWbpz9V1yOVXiwgW8hjLjSAkwQtBn9LWDx3gMBUnpLuIA6GRyg-BoJekn8JFwxhhNwi89cm5I7AebaU8lxNHIZMi19narnfnevDiqI0lCO29Dk3l9NmbYzRutpW-h_zBp5XPAQ</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>patent</recordtype></control><display><type>patent</type><title>Method and system for calibrating a network of multiple horizontally scanning range finders</title><source>esp@cenet</source><creator>Röwekämper, Jörg ; Ruhnke, Michael ; Tipaldi, Gian Diego ; Steder, Bastian ; Burgard, Wolfram</creator><creatorcontrib>Röwekämper, Jörg ; Ruhnke, Michael ; Tipaldi, Gian Diego ; Steder, Bastian ; Burgard, Wolfram</creatorcontrib><description>A method and a system for calibrating a network of multiple range finders are disclosed. In an embodiment, the method includes performing a measurement with the range finders during a movement of an object through an area covered by the network, identifying, for each range finder, data sets of the measurement associated with the moving object, based on a static analysis of the respective range finder, determining, for each pair of overlapping range finders, an estimated relative transformation between respective poses of the pair, based on the identified data sets of the pair, determining an initial maximum likelihood configuration of poses of all of the range finders based on the estimated relative transformations of each pair and iteratively determining sets of point correspondences of the identified data sets and if a distance of the points in the pair is below a threshold, the threshold being redefined decreasingly for each iteration.</description><language>eng</language><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES ; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES ; GYROSCOPIC INSTRUMENTS ; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES ; MEASURING ; MEASURING DISTANCES, LEVELS OR BEARINGS ; NAVIGATION ; PHOTOGRAMMETRY OR VIDEOGRAMMETRY ; PHYSICS ; RADIO DIRECTION-FINDING ; RADIO NAVIGATION ; SURVEYING ; TESTING</subject><creationdate>2019</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20191015&DB=EPODOC&CC=US&NR=10444332B2$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25562,76317</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20191015&DB=EPODOC&CC=US&NR=10444332B2$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>Röwekämper, Jörg</creatorcontrib><creatorcontrib>Ruhnke, Michael</creatorcontrib><creatorcontrib>Tipaldi, Gian Diego</creatorcontrib><creatorcontrib>Steder, Bastian</creatorcontrib><creatorcontrib>Burgard, Wolfram</creatorcontrib><title>Method and system for calibrating a network of multiple horizontally scanning range finders</title><description>A method and a system for calibrating a network of multiple range finders are disclosed. In an embodiment, the method includes performing a measurement with the range finders during a movement of an object through an area covered by the network, identifying, for each range finder, data sets of the measurement associated with the moving object, based on a static analysis of the respective range finder, determining, for each pair of overlapping range finders, an estimated relative transformation between respective poses of the pair, based on the identified data sets of the pair, determining an initial maximum likelihood configuration of poses of all of the range finders based on the estimated relative transformations of each pair and iteratively determining sets of point correspondences of the identified data sets and if a distance of the points in the pair is below a threshold, the threshold being redefined decreasingly for each iteration.</description><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES</subject><subject>DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES</subject><subject>GYROSCOPIC INSTRUMENTS</subject><subject>LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES</subject><subject>MEASURING</subject><subject>MEASURING DISTANCES, LEVELS OR BEARINGS</subject><subject>NAVIGATION</subject><subject>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</subject><subject>PHYSICS</subject><subject>RADIO DIRECTION-FINDING</subject><subject>RADIO NAVIGATION</subject><subject>SURVEYING</subject><subject>TESTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2019</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNzLENwjAQQFE3FAjY4RgACWJPQASioQIqiuiIz4mFc2fZRihMD0gMQPWbpz9V1yOVXiwgW8hjLjSAkwQtBn9LWDx3gMBUnpLuIA6GRyg-BoJekn8JFwxhhNwi89cm5I7AebaU8lxNHIZMi19narnfnevDiqI0lCO29Dk3l9NmbYzRutpW-h_zBp5XPAQ</recordid><startdate>20191015</startdate><enddate>20191015</enddate><creator>Röwekämper, Jörg</creator><creator>Ruhnke, Michael</creator><creator>Tipaldi, Gian Diego</creator><creator>Steder, Bastian</creator><creator>Burgard, Wolfram</creator><scope>EVB</scope></search><sort><creationdate>20191015</creationdate><title>Method and system for calibrating a network of multiple horizontally scanning range finders</title><author>Röwekämper, Jörg ; Ruhnke, Michael ; Tipaldi, Gian Diego ; Steder, Bastian ; Burgard, Wolfram</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_US10444332B23</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng</language><creationdate>2019</creationdate><topic>ANALOGOUS ARRANGEMENTS USING OTHER WAVES</topic><topic>DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES</topic><topic>GYROSCOPIC INSTRUMENTS</topic><topic>LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES</topic><topic>MEASURING</topic><topic>MEASURING DISTANCES, LEVELS OR BEARINGS</topic><topic>NAVIGATION</topic><topic>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</topic><topic>PHYSICS</topic><topic>RADIO DIRECTION-FINDING</topic><topic>RADIO NAVIGATION</topic><topic>SURVEYING</topic><topic>TESTING</topic><toplevel>online_resources</toplevel><creatorcontrib>Röwekämper, Jörg</creatorcontrib><creatorcontrib>Ruhnke, Michael</creatorcontrib><creatorcontrib>Tipaldi, Gian Diego</creatorcontrib><creatorcontrib>Steder, Bastian</creatorcontrib><creatorcontrib>Burgard, Wolfram</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Röwekämper, Jörg</au><au>Ruhnke, Michael</au><au>Tipaldi, Gian Diego</au><au>Steder, Bastian</au><au>Burgard, Wolfram</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Method and system for calibrating a network of multiple horizontally scanning range finders</title><date>2019-10-15</date><risdate>2019</risdate><abstract>A method and a system for calibrating a network of multiple range finders are disclosed. In an embodiment, the method includes performing a measurement with the range finders during a movement of an object through an area covered by the network, identifying, for each range finder, data sets of the measurement associated with the moving object, based on a static analysis of the respective range finder, determining, for each pair of overlapping range finders, an estimated relative transformation between respective poses of the pair, based on the identified data sets of the pair, determining an initial maximum likelihood configuration of poses of all of the range finders based on the estimated relative transformations of each pair and iteratively determining sets of point correspondences of the identified data sets and if a distance of the points in the pair is below a threshold, the threshold being redefined decreasingly for each iteration.</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | ANALOGOUS ARRANGEMENTS USING OTHER WAVES DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES GYROSCOPIC INSTRUMENTS LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION SURVEYING TESTING |
| title | Method and system for calibrating a network of multiple horizontally scanning range finders |
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