Title :
Dynamic calibration and compensation of a 3D laser radar scanning system
Author :
Chen, Y.D. ; Ni, J. ; Wu, S.M.
Author_Institution :
Dept. of Mech. Eng. & Appl. Mech., Michigan Univ., Ann Arbor, MI, USA
Abstract :
LIDAR (laser radar) is used to measure 3-dimensional object positions. The range image is frequently corrupted with noise. A dynamic calibration method is developed to improve the LIDAR accuracy based on a polynomial calibration model and autoregressive moving average (ARMA) calibration model. Experimental results show that the measurement errors of the LIDAR system have been reduced from 163 counts (2.208 in) to 18 counts (0.244 in) after compensation using the polynomial calibration model, and that the errors have been further reduced to 11 counts (0.149 in) with the ARMA model
Keywords :
calibration; error compensation; laser scanners; optical radar; position measurement; time series; 3D laser radar scanning system; 3D object position measurement; ARMA model; LIDAR; autoregressive moving average; compensation; dynamic calibration; noise; polynomial calibration; polynomial calibration model; range image; Autoregressive processes; Calibration; Laser modes; Laser noise; Laser radar; Measurement errors; Polynomials; Position measurement; Radar imaging; Radar measurements;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291831
