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

Issue

Vol. 21 No. 1 (2015)

Section

AUTOMATION, ROBOTICS

License

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By virtue of their appearance in this open access journal, papers are free to use with proper attribution in educational and other non-commercial settings with an acknowledgement of the initial publication in the journal.

How to Cite

Calibration and Evaluation of Parameters in A 3D Proximity Rotating Scanner. (2015). Elektronika Ir Elektrotechnika, 21(1), 3-12. https://doi.org/10.5755/j01.eee.21.1.7299