Full-DOF Calibration of a Rotating 2-D LIDAR With a Simple Plane Measurement

This paper proposes a calibration method that accurately estimates six parameters between the two centers of 2-D light detection and ranging (LIDAR) and a rotating platform. This method uses a simple plane, and to the best of our knowledge, it is the first to enable full-degree-of-freedom (DOF) esti...

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Bibliographic Details
Published in:IEEE transactions on robotics 2016-10, Vol.32 (5), p.1245-1263
Main Authors: Jaehyeon Kang, Doh, Nakju Lett
Format: Article
Language:English
Subjects:
Accuracy
Calibration
Calibration and identification
Cost function
Estimating techniques
Estimation
Laser radar
Mathematical model
Parameter estimation
range sensing
Robots
Rotation measurement
sensor fusion
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Summary:This paper proposes a calibration method that accurately estimates six parameters between the two centers of 2-D light detection and ranging (LIDAR) and a rotating platform. This method uses a simple plane, and to the best of our knowledge, it is the first to enable full-degree-of-freedom (DOF) estimation without additional hardware. The key concept behind this method is a decoupling property, in which the direction of a line on a plane does not contain 3-DOF translation terms. Based on this, a cost function for rotation is constructed, and 3-DOF rotation parameters are estimated. With this rotation, the remaining 3-DOF translation parameters are calculated in a manner that minimizes the cost function for translation only. In other words, an original 6-DOF problem is decoupled into two 3-DOF estimation problems. Given these cost functions, degenerate cases are mathematically analyzed for known cases (incomplete), and the robustness is numerically tested for all possible cases (complete). The performance of the method is validated by extensive simulations and experimentations, and the estimated parameters from the proposed method demonstrate better accuracy than previous methods.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2016.2596769