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Boresight Calibration of Construction Misalignments for 3D Scanners Built with a 2D Laser Rangefinder Rotating on Its Optical Center

1
Departamento de Ingeniería de Sistemas y Automática, Universidad de Málaga, Andalucía Tech, 29071-Málaga, Spain
2
Ingeniería UNO, Calle Alcalde Garret y Souto, 38, 29006-Málaga, Spain
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Author to whom correspondence should be addressed.
Sensors 2014, 14(11), 20025-20040; https://doi.org/10.3390/s141120025
Received: 31 July 2014 / Revised: 11 October 2014 / Accepted: 16 October 2014 / Published: 24 October 2014
(This article belongs to the Section Physical Sensors)
Many applications, like mobile robotics, can profit from acquiring dense, wide-ranging and accurate 3D laser data. Off-the-shelf 2D scanners are commonly customized with an extra rotation as a low-cost, lightweight and low-power-demanding solution. Moreover, aligning the extra rotation axis with the optical center allows the 3D device to maintain the same minimum range as the 2D scanner and avoids offsets in computing Cartesian coordinates. The paper proposes a practical procedure to estimate construction misalignments based on a single scan taken from an arbitrary position in an unprepared environment that contains planar surfaces of unknown dimensions. Inherited measurement limitations from low-cost 2D devices prevent the estimation of very small translation misalignments, so the calibration problem reduces to obtaining boresight parameters. The distinctive approach with respect to previous plane-based intrinsic calibration techniques is the iterative maximization of both the flatness and the area of visible planes. Calibration results are presented for a case study. The method is currently being applied as the final stage in the production of a commercial 3D rangefinder. View Full-Text
Keywords: range sensors; system calibration; 3D laser scanner; plane detection; quality control range sensors; system calibration; 3D laser scanner; plane detection; quality control
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MDPI and ACS Style

Morales, J.; Martínez, J.L.; Mandow, A.; Reina, A.J.; Pequeño-Boter, A.; García-Cerezo, A. Boresight Calibration of Construction Misalignments for 3D Scanners Built with a 2D Laser Rangefinder Rotating on Its Optical Center. Sensors 2014, 14, 20025-20040.

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