An efficient extrinsic calibration of a laser sensor

With 2D laser range finder sensors becoming more commonly used in robotic systems, this paper proposes an extrinsic calibration that requires only a single feature point and a single range finder, i.e. no additional sensors are needed. The calibration process is based on a Centralized Motion Algorit...

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Bibliographic Details
Published in2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA) pp. 1 - 6
Main Authors Nevarez, Victor, Lumia, Ron
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2016
Subjects
Automation
Calibration
Laser applications
Robot sensing systems
Two dimensional displays
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Summary:With 2D laser range finder sensors becoming more commonly used in robotic systems, this paper proposes an extrinsic calibration that requires only a single feature point and a single range finder, i.e. no additional sensors are needed. The calibration process is based on a Centralized Motion Algorithm (CMA), that exploits the geometric relationship of a feature point and its image location. By doing so, it can geometrically constrain the calibration problem to be fully defined with a closed form solution. Using this method, it is possible to be able to calculate the extrinsic parameters using a minimum of three poses. Using five different starting configurations and orientations, we were able to calculate the extrinsic parameters in an average of 5 poses. Using the calculated extrinsic parameters to touch objects in the environment with a calibrated pointer tool, the system was found to have an accuracy of 2.272 ± 1.7789 mm and that the worst case was twice as accurate as an existing camera-laser calibration method.
DOI:10.1109/RAHA.2016.7931879