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Journal of Sensors - Volume 2016 2016, Article ID 3715129, 13 pages -

Research ArticleDepartment of Computer Science, FEECS, VŠB-Technical University of Ostrava, 17 Listopadu 15, Ostrava, Czech Republic

Received 17 August 2015; Revised 21 October 2015; Accepted 25 October 2015

Academic Editor: Tao Zhu

Copyright © 2016 Petr Olivka et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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.

Autor: Petr Olivka, Michal Krumnikl, Pavel Moravec, and David Seidl



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