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Automatic 2-D LiDAR geometric calibration of installation bias
Bruno J. Guerreiro2; Carlos Silvestre1,2; Paulo Oliveira2
2014-05-13
Source PublicationRobotics and Autonomous Systems
ISSN0921-8890
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.

KeywordAerial Robotics Calibration Mapping Range Sensing Special Orthogonal Group
DOI10.1016/j.robot.2014.05.001
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Robotics ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics
WOS IDWOS:000338405000003
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Cited Times [WOS]:6   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Institute for Systems and Robotics, Instituto Superior Técnico, University of Lisbon, Portugal
2.Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Bruno J. Guerreiro,Carlos Silvestre,Paulo Oliveira. Automatic 2-D LiDAR geometric calibration of installation bias[J]. Robotics and Autonomous Systems,2014,62(8):1116-1129.
APA Bruno J. Guerreiro,Carlos Silvestre,&Paulo Oliveira.(2014).Automatic 2-D LiDAR geometric calibration of installation bias.Robotics and Autonomous Systems,62(8),1116-1129.
MLA Bruno J. Guerreiro,et al."Automatic 2-D LiDAR geometric calibration of installation bias".Robotics and Autonomous Systems 62.8(2014):1116-1129.
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