Calibration Algorithm Based on Linear Feature Between Two-Dimensional Laser Range Finder and Platform

Calibration Algorithm Based on Linear Feature Between Two-Dimensional Laser Range Finder and Platform

This paper presented an algorithm to calibrate the extrinsic parameters between a 2 dimensional laser range finder and a pan-tilt platform. After 3 kind geometrical features are analyzed, the line feature was selected. A calibration board with right-angled triangle outline was designed to improve th...

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Bibliographische Detailangaben
Hauptverfasser: Li, Jiancheng, Li, Ganhua, Li, Dong
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Automatic control
Calibration
Coordinate measuring machines
Equations
Measurement errors
Paper technology
Satellites
Sensor systems
Shape measurement
Simultaneous localization and mapping
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Beschreibung
Zusammenfassung:This paper presented an algorithm to calibrate the extrinsic parameters between a 2 dimensional laser range finder and a pan-tilt platform. After 3 kind geometrical features are analyzed, the line feature was selected. A calibration board with right-angled triangle outline was designed to improve the calibration precision. Based on the line feature, the constrain equations was established. The experimental results of simulation and real data prove the effectiveness of the algorithm.
DOI:10.1109/IWISA.2009.5072772