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Keywords = Pan-Tilt Unit (PTU)

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12 pages, 4291 KiB  
Article
An Improved Calibration Method for a Rotating 2D LIDAR System
by Yadan Zeng, Heng Yu, Houde Dai, Shuang Song, Mingqiang Lin, Bo Sun, Wei Jiang and Max Q.-H. Meng
Sensors 2018, 18(2), 497; https://doi.org/10.3390/s18020497 - 7 Feb 2018
Cited by 38 | Viewed by 8921
Abstract
This paper presents an improved calibration method of a rotating two-dimensional light detection and ranging (R2D-LIDAR) system, which can obtain the 3D scanning map of the surroundings. The proposed R2D-LIDAR system, composed of a 2D LIDAR and a rotating unit, is pervasively used [...] Read more.
This paper presents an improved calibration method of a rotating two-dimensional light detection and ranging (R2D-LIDAR) system, which can obtain the 3D scanning map of the surroundings. The proposed R2D-LIDAR system, composed of a 2D LIDAR and a rotating unit, is pervasively used in the field of robotics owing to its low cost and dense scanning data. Nevertheless, the R2D-LIDAR system must be calibrated before building the geometric model because there are assembled deviation and abrasion between the 2D LIDAR and the rotating unit. Hence, the calibration procedures should contain both the adjustment between the two devices and the bias of 2D LIDAR itself. The main purpose of this work is to resolve the 2D LIDAR bias issue with a flat plane based on the Levenberg–Marquardt (LM) algorithm. Experimental results for the calibration of the R2D-LIDAR system prove the reliability of this strategy to accurately estimate sensor offsets with the error range from −15 mm to 15 mm for the performance of capturing scans. Full article
(This article belongs to the Special Issue Sensors for Transportation)
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