Title :
3D proximity laser scanner calibration
Author :
Kocmanova, Petra ; Zalud, Ludek ; Chromy, Adam
Author_Institution :
Fac. of Civil Eng., Brno Univ. of Technol., Brno, Czech Republic
Abstract :
This paper deals with the calibration of scanner Velodyne HDL-64E that is used in field robotic applications. The aim of calibration is to improve the performance in advanced mapping algorithms such as robot evidence grids or octree. The proposed novel calibration method is founded on conditional adjustment for correlated measurements and using close range photogrammetry. The proposed calibration significantly improves scanner accuracy.
Keywords :
calibration; image sensors; mobile robots; path planning; 3D proximity laser scanner calibration; Velodyne HDL-64E scanner; close range photogrammetry; conditional adjustment; correlated measurements; field robotic applications; mapping algorithms; octree; robot evidence grids; scanner accuracy; Calibration; Equations; Mathematical model; Measurement by laser beam; Robots; Standards; Three-dimensional displays;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2013 18th International Conference on
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4673-5506-3
DOI :
10.1109/MMAR.2013.6670005
