Calibration and Evaluation of Parameters in A 3D Proximity Rotating Scanner

  • Ludek Zalud Brno University of Technology
  • Petra Kocmanova Brno University of Technology
  • Frantisek Burian Brno University of Technology
  • Tomas Jilek Brno University of Technology
  • Petr Kalvoda Brno University of Technology
  • Lukas Kopecny Brno University of Technology
Keywords: Calibration, infrared sensors, multi-robot systems, data processing

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.

DOI: http://dx.doi.org/10.5755/j01.eee.21.1.7299

Author Biographies

Ludek Zalud, Brno University of Technology
ICRC FNUSA
Petra Kocmanova, Brno University of Technology
CEITEC
Frantisek Burian, Brno University of Technology
CEITEC
Tomas Jilek, Brno University of Technology
CEITEC
Petr Kalvoda, Brno University of Technology
Institute of Geodesy
Published
2015-04-01
How to Cite
Zalud, L., Kocmanova, P., Burian, F., Jilek, T., Kalvoda, P., & Kopecny, L. (2015). Calibration and Evaluation of Parameters in A 3D Proximity Rotating Scanner. Elektronika Ir Elektrotechnika, 21(1), 3-12. https://doi.org/10.5755/j01.eee.21.1.7299
Section
AUTOMATION, ROBOTICS