Calibration of Short Range 2D Laser Range Finder for 3D SLAM Usage
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F16%3A86096961" target="_blank" >RIV/61989100:27240/16:86096961 - isvavai.cz</a>
Result on the web
<a href="http://www.hindawi.com/journals/js/2016/3715129/" target="_blank" >http://www.hindawi.com/journals/js/2016/3715129/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1155/2016/3715129" target="_blank" >10.1155/2016/3715129</a>
Alternative languages
Result language
angličtina
Original language name
Calibration of Short Range 2D Laser Range Finder for 3D SLAM Usage
Original language description
The laser range finder is one of the most essential sensors in the field of robotics. The laser range finder provides an accurate range measurement with high angular resolution. However, the short range scanners require an additional calibration to achieve the abovementioned accuracy. The calibration procedure described in this work provides an estimation of the internal parameters of the laser range finder without requiring any special three-dimensional targets. This work presents the use of a short range URG-04LX scanner for mapping purposes and describes its calibration. The precision of the calibration was checked in an environment with known ground truth values and the results were statistically evaluated. The benefits of the calibration are also demonstrated in the practical applications involving the segmentation of the environment. The proposed calibration method is complex and detects all major manufacturing inaccuracies. The procedure is suitable for easy integration into the current manufacturing process.
Czech name
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Czech description
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Classification
Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JB - Sensors, detecting elements, measurement and regulation
OECD FORD branch
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Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Journal of Sensors
ISSN
1687-725X
e-ISSN
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Volume of the periodical
2016
Issue of the periodical within the volume
2016
Country of publishing house
US - UNITED STATES
Number of pages
13
Pages from-to
1-13
UT code for WoS article
000369921300001
EID of the result in the Scopus database
2-s2.0-84954433748