Calibration of Short Range 2D Laser Range Finder for 3D SLAM Usage
Joint Authors
Olivka, Petr
Krumnikl, Michal
Moravec, Pavel
Seidl, David
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-12-20
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
The laser range finder is one of the most essential sensors in the field of robotics.
The laser range finder provides an accurate range measurement with high angular resolution.
However, the short range scanners require an additional calibration to achieve the abovementioned accuracy.
The calibration procedure described in this work provides an estimation of the internal parameters of the laser range finder without requiring any special three-dimensional targets.
This work presents the use of a short range URG-04LX scanner for mapping purposes and describes its calibration.
The precision of the calibration was checked in an environment with known ground truth values and the results were statistically evaluated.
The benefits of the calibration are also demonstrated in the practical applications involving the segmentation of the environment.
The proposed calibration method is complex and detects all major manufacturing inaccuracies.
The procedure is suitable for easy integration into the current manufacturing process.
American Psychological Association (APA)
Olivka, Petr& Krumnikl, Michal& Moravec, Pavel& Seidl, David. 2015. Calibration of Short Range 2D Laser Range Finder for 3D SLAM Usage. Journal of Sensors،Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1110431
Modern Language Association (MLA)
Olivka, Petr…[et al.]. Calibration of Short Range 2D Laser Range Finder for 3D SLAM Usage. Journal of Sensors No. 2016 (2016), pp.1-13.
https://search.emarefa.net/detail/BIM-1110431
American Medical Association (AMA)
Olivka, Petr& Krumnikl, Michal& Moravec, Pavel& Seidl, David. Calibration of Short Range 2D Laser Range Finder for 3D SLAM Usage. Journal of Sensors. 2015. Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1110431
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110431