DocumentCode
646587
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
fYear
2013
fDate
26-29 Aug. 2013
Firstpage
742
Lastpage
747
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/MMAR.2013.6670005
Filename
6670005
Link To Document