Publication detail

Calibration and evaluation of parameters in a 3D proximity rotating scanner

ŽALUD, L. KOCMANOVÁ, P. BURIAN, F. JÍLEK, T. KALVODA, P. KOPEČNÝ, L.

Original Title

Calibration and evaluation of parameters in a 3D proximity rotating scanner

English Title

Calibration and evaluation of parameters in a 3D proximity rotating scanner

Type

journal article in Web of Science

Language

en

Original Abstract

This paper presents the procedures enabling the calibration and evaluation of intrinsic parameters in a Velodyne multi-beam laser scanner. As the device will be utilized in field robotics applications, both the evaluated parameters and the calibration are generally aimed to improve the performance of the scanner with advanced mapping algorithms such as robot evidence grids or octree. The measured parameters are compared with the data provided by the manufacturer. A novel calibration method based on conditional adjustment for correlated measurements is proposed and compared with factory calibration.

English abstract

This paper presents the procedures enabling the calibration and evaluation of intrinsic parameters in a Velodyne multi-beam laser scanner. As the device will be utilized in field robotics applications, both the evaluated parameters and the calibration are generally aimed to improve the performance of the scanner with advanced mapping algorithms such as robot evidence grids or octree. The measured parameters are compared with the data provided by the manufacturer. A novel calibration method based on conditional adjustment for correlated measurements is proposed and compared with factory calibration.

Keywords

calibration, infrared sensors, multi-robot systems, data processing

RIV year

2015

Released

13.02.2015

Publisher

Kaunas University of Technology

Location

Kaunas, Litva

Pages from

3

Pages to

12

Pages count

10

URL

BibTex


@article{BUT113295,
  author="Luděk {Žalud} and Petra {Kalvodová} and František {Burian} and Tomáš {Jílek} and Petr {Kalvoda} and Lukáš {Kopečný}",
  title="Calibration and evaluation of parameters in a 3D proximity rotating scanner",
  annote="This paper presents the procedures enabling the calibration and evaluation of intrinsic parameters in a Velodyne multi-beam laser scanner. As the device will be utilized in field robotics applications, both the evaluated parameters and the calibration are generally aimed to improve the performance of the scanner with advanced mapping algorithms such as robot evidence grids or octree. The measured parameters are compared with the data provided by the manufacturer. A novel calibration method based on conditional adjustment for correlated measurements is proposed and compared with factory calibration.",
  address="Kaunas University of Technology",
  chapter="113295",
  doi="10.5755/j01.eee.21.1.7299",
  howpublished="print",
  institution="Kaunas University of Technology",
  number="1",
  volume="21",
  year="2015",
  month="february",
  pages="3--12",
  publisher="Kaunas University of Technology",
  type="journal article in Web of Science"
}