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Open AccessArticle

Extrinsic Calibration of Multiple Two-Dimensional Laser Rangefinders Based on a Trihedron

School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430072, China
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Sensors 2020, 20(7), 1837; https://doi.org/10.3390/s20071837
Received: 16 February 2020 / Revised: 21 March 2020 / Accepted: 24 March 2020 / Published: 26 March 2020
(This article belongs to the Special Issue LiDAR for Autonomous Vehicles)
Multiple two-dimensional laser rangefinders (LRFs) are applied in many applications like mobile robotics, autonomous vehicles, and three-dimensional reconstruction. The extrinsic calibration between LRFs is the first step to perform data fusion and practical application. In this paper, we proposed a simple method to calibrate LRFs based on a corner composed of three mutually perpendicular planes. In contrast to other methods that require a special pattern or assistance from other sensors, the trihedron corner needed in this method is common in daily environments. In practice, we can adjust the position of the LRFs to observe the corner until the laser scanning plane intersects with three planes of the corner. Then, we formed a Perspective-Three-Point problem to solve the position and orientation of each LRF at the common corner coordinate system. The method was validated with synthetic and real experiments, showing better performance than existing methods. View Full-Text
Keywords: 2D laser rangefinder; extrinsic calibration; trihedron; weighted iterative; Perspective-Three-Point (P3P) 2D laser rangefinder; extrinsic calibration; trihedron; weighted iterative; Perspective-Three-Point (P3P)
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MDPI and ACS Style

Zhu, F.; Huang, Y.; Tian, Z.; Ma, Y. Extrinsic Calibration of Multiple Two-Dimensional Laser Rangefinders Based on a Trihedron. Sensors 2020, 20, 1837.

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