Title :
Proximity laser scanner calibration for rescue robotics
Author :
Kocmanova, Petra ; Zalud, Ludek
Author_Institution :
Fac. of Civil Eng., Brno Univ. of Technol., Brno, Czech Republic
Abstract :
The paper deals with calibration of scanner Velodyne HDL-64E that will be used in field robotic applications. The aim of calibration is to improve the performance in advanced mapping algorithms, like 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 improved scanner accuracy.
Keywords :
calibration; optical scanners; photogrammetry; rescue robots; robot vision; Velodyne HDL-64E scanner; advanced mapping algorithms; calibration method; close range photogrammetry; field robotic applications; octree; proximity laser scanner calibration; rescue robotics; robot evidence grids; Calibration; Equations; Lasers; Mathematical model; Measurement by laser beam; Robots; Standards; calibration; conditional adjustment; correction parameter; parametric adjustment;
Conference_Titel :
Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE
Conference_Location :
Vienna
DOI :
10.1109/IECON.2013.6699517
