Title :
Calibration Algorithm Based on Linear Feature Between Two-Dimensional Laser Range Finder and Platform
Author :
Li, Jiancheng ; Li, Ganhua ; Li Dong
Author_Institution :
Dept. of Autom. Control, Northwest Polytech. Univ., Xi´´an
Abstract :
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.
Keywords :
calibration; laser ranging; 2D laser range finder; calibration algorithm; calibration board; geometrical feature analysis; linear feature; pan-tilt platform; Automatic control; Calibration; Coordinate measuring machines; Equations; Measurement errors; Paper technology; Satellites; Sensor systems; Shape measurement; Simultaneous localization and mapping;
Conference_Titel :
Intelligent Systems and Applications, 2009. ISA 2009. International Workshop on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-3893-8
Electronic_ISBN :
978-1-4244-3894-5
DOI :
10.1109/IWISA.2009.5072772
