Next Article in Journal
The SALT—Readout ASIC for Silicon Strip Sensors of Upstream Tracker in the Upgraded LHCb Experiment
Previous Article in Journal
A Wearable Biofeedback Device to Increase Gait Swing Time Could Have Positive Effects on Gait among Older Adults
Article

Performance Index for Extrinsic Calibration of LiDAR and Motion Sensor for Mapping and Localization

Department of Smart Vehicle Engineering, Konkuk University, Seoul 05029, Korea
Academic Editors: Javier Alonso Ruiz, Angel Llamazares and Martin Lauer
Sensors 2022, 22(1), 106; https://doi.org/10.3390/s22010106
Received: 20 October 2021 / Revised: 13 December 2021 / Accepted: 21 December 2021 / Published: 24 December 2021
(This article belongs to the Topic Intelligent Transportation Systems)
Light Detection and Ranging (LiDAR) is a sensor that uses a laser to represent the surrounding environment in three-dimensional information. Thanks to the development of LiDAR, LiDAR-based applications are being actively used in autonomous vehicles. In order to effectively use the information coming from LiDAR, extrinsic calibration which finds the translation and the rotation relationship between LiDAR coordinate and vehicle coordinate is essential. Therefore, many studies on LiDAR extrinsic calibration are steadily in progress. The performance index (PI) of the calibration parameter is a value that quantitatively indicates whether the obtained calibration parameter is similar to the true value or not. In order to effectively use the obtained calibration parameter, it is important to validate the parameter through PI. Therefore, in this paper, we propose an algorithm to obtain the performance index for the calibration parameter between LiDAR and the motion sensor. This performance index is experimentally verified in various environments by Monte Carlo simulation and validated using CarMaker simulation data and real data. As a result of verification, the PI of the calibration parameter obtained through the proposed algorithm has the smallest value when the calibration parameter has a true value, and increases as an error is added to the true value. In other words, it has been proven that PI is convex to the calibration parameter. In addition, it is able to confirm that the PI obtained using the proposed algorithm provides information on the effect of the calibration parameters on mapping and localization. View Full-Text
Keywords: LiDAR; extrinsic calibration; performance index; motion sensor; localization; mapping LiDAR; extrinsic calibration; performance index; motion sensor; localization; mapping
Show Figures

Figure 1

MDPI and ACS Style

Kim, G. Performance Index for Extrinsic Calibration of LiDAR and Motion Sensor for Mapping and Localization. Sensors 2022, 22, 106. https://doi.org/10.3390/s22010106

AMA Style

Kim G. Performance Index for Extrinsic Calibration of LiDAR and Motion Sensor for Mapping and Localization. Sensors. 2022; 22(1):106. https://doi.org/10.3390/s22010106

Chicago/Turabian Style

Kim, Gamin. 2022. "Performance Index for Extrinsic Calibration of LiDAR and Motion Sensor for Mapping and Localization" Sensors 22, no. 1: 106. https://doi.org/10.3390/s22010106

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop