Next Article in Journal
Assessing Performance of the RSTVOLC Multi-Temporal Algorithm in Detecting Subtle Hot Spots at Oldoinyo Lengai (Tanzania, Africa) for Comparison with MODLEN
Next Article in Special Issue
Panoramic Image and Three-Axis Laser Scanner Integrated Approach for Indoor 3D Mapping
Previous Article in Journal
Global Satellite Retrievals of the Near-Surface Atmospheric Vapor Pressure Deficit from AMSR-E and AMSR2
Previous Article in Special Issue
Comparing Terrestrial Laser Scanning (TLS) and Wearable Laser Scanning (WLS) for Individual Tree Modeling at Plot Level
Open AccessArticle

Extrinsic Calibration of 2D Laser Rangefinders Based on a Mobile Sphere

1
State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China
2
Collaborative Innovation Center of Geospatial Technology, Wuhan University, Wuhan 430079, China
3
Department of Remote Sensing and Photogrammetry and the Center of Excellence in Laser Scanning Research, Finnish Geospatial Research Institute, 02430 Masala, Finland
*
Author to whom correspondence should be addressed.
Remote Sens. 2018, 10(8), 1176; https://doi.org/10.3390/rs10081176
Received: 24 May 2018 / Revised: 17 July 2018 / Accepted: 20 July 2018 / Published: 25 July 2018
(This article belongs to the Special Issue Mobile Laser Scanning)
In the fields of autonomous vehicles, virtual reality and three-dimensional (3D) reconstruction, 2D laser rangefinders have been widely employed for different purposes, such as localization, mapping, and simultaneous location and mapping. However, the extrinsic calibration of multiple 2D laser rangefinders is a fundamental prerequisite for guaranteeing their performance. In contrast to existing calibration methods that rely on manual procedures or suffer from low accuracy, an automatic and high-accuracy solution is proposed in this paper for the extrinsic calibration of 2D laser rangefinders. In the proposed method, a mobile sphere is used as a calibration target, thereby allowing the automatic extrapolation of a spherical center and the automatic matching of corresponding points. Based on the error analysis, a matching machine of corresponding points with a low error is established with the restriction constraint of the scan circle radius, thereby achieving the goal of high-accuracy calibration. Experiments using the Hokuyo UTM-30LX sensor show that the method can increase the extrinsic orientation accuracy to a sensor intrinsic accuracy of 10 mm without requiring manual measurements or manual correspondence among sensor data. Therefore, the calibration method in this paper is automatic, highly accurate, and highly effective, and it meets the requirements of practical applications. View Full-Text
Keywords: extrinsic calibration; 2D laser rangefinder; point cloud; 3D data fitting extrinsic calibration; 2D laser rangefinder; point cloud; 3D data fitting
Show Figures

Graphical abstract

MDPI and ACS Style

Chen, S.; Liu, J.; Wu, T.; Huang, W.; Liu, K.; Yin, D.; Liang, X.; Hyyppä, J.; Chen, R. Extrinsic Calibration of 2D Laser Rangefinders Based on a Mobile Sphere. Remote Sens. 2018, 10, 1176. https://doi.org/10.3390/rs10081176

AMA Style

Chen S, Liu J, Wu T, Huang W, Liu K, Yin D, Liang X, Hyyppä J, Chen R. Extrinsic Calibration of 2D Laser Rangefinders Based on a Mobile Sphere. Remote Sensing. 2018; 10(8):1176. https://doi.org/10.3390/rs10081176

Chicago/Turabian Style

Chen, Shoubin; Liu, Jingbin; Wu, Teng; Huang, Wenchao; Liu, Keke; Yin, Deyu; Liang, Xinlian; Hyyppä, Juha; Chen, Ruizhi. 2018. "Extrinsic Calibration of 2D Laser Rangefinders Based on a Mobile Sphere" Remote Sens. 10, no. 8: 1176. https://doi.org/10.3390/rs10081176

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
Search more from Scilit
 
Search
Back to TopTop