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Automatic 2-D LiDAR geometric calibration of installation bias
Guerreiro B.J.2; Silvestre C.1,2; Oliveira P.2
2014
Source PublicationRobotics and Autonomous Systems
ISSN09218890
Volume62Issue:8Pages:1116-1129
Abstract

This paper proposes two estimation algorithms for the determination of the attitude installation matrix for 2-D light detection and ranging (LiDAR) systems on board unmanned aerial vehicles (UAVs). While a comparative calibration algorithm assumes the existence of a known calibration surface, an automatic calibration algorithm does not require any prior knowledge of the trajectories of the vehicle or the terrain where the calibration mission is performed. The proposed calibration algorithms rely on the minimization of the errors between the measured point cloud and a representation of the known calibration surface or, alternatively, the errors between several acquired point clouds, by comparing each measured point cloud with a surface representation of the others. The resulting optimization problems are addressed using two techniques: (i) nonlinear optimization, where the attitude installation rotation matrix is parameterized by the ZYX Euler angles, and (ii) optimization on Riemannian manifolds, enabling the estimation of the attitude installation matrix on the group of special orthogonal matrices SO(3). The proposed calibration techniques are extensively validated and compared using both simulated and experimental LiDAR data sets, demonstrating their accuracy and performance. © 2014 Elsevier B.V. All rights reserved.

KeywordAerial Robotics Calibration Mapping Range Sensing Special Orthogonal Group
DOI10.1016/j.robot.2014.05.001
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Robotics ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics
WOS IDWOS:000338405000003
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被引频次[WOS]:5   [WOS记录]     [WOS相关记录]
Document TypeJournal article
专题DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Universidade de Macau
2.Instituto Superior Técnico
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Guerreiro B.J.,Silvestre C.,Oliveira P.. Automatic 2-D LiDAR geometric calibration of installation bias[J]. Robotics and Autonomous Systems,2014,62(8):1116-1129.
APA Guerreiro B.J.,Silvestre C.,&Oliveira P..(2014).Automatic 2-D LiDAR geometric calibration of installation bias.Robotics and Autonomous Systems,62(8),1116-1129.
MLA Guerreiro B.J.,et al."Automatic 2-D LiDAR geometric calibration of installation bias".Robotics and Autonomous Systems 62.8(2014):1116-1129.
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