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

Authors

  • 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

DOI:

https://doi.org/10.5755/j01.eee.21.1.7299

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

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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

Issue

Vol. 21 No. 1 (2015)

Section

AUTOMATION, ROBOTICS

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