Abstract
This paper proposes a calibration method that accurately estimates six parameters between the two centers of 2-D light detection and ranging (LIDAR) and a rotating platform. This method uses a simple plane, and to the best of our knowledge, it is the first to enable full-degree-of-freedom (DOF) estimation without additional hardware. The key concept behind this method is a decoupling property, in which the direction of a line on a plane does not contain 3-DOF translation terms. Based on this, a cost function for rotation is constructed, and 3-DOF rotation parameters are estimated. With this rotation, the remaining 3-DOF translation parameters are calculated in a manner that minimizes the cost function for translation only. In other words, an original 6-DOF problem is decoupled into two 3-DOF estimation problems. Given these cost functions, degenerate cases are mathematically analyzed for known cases (incomplete), and the robustness is numerically tested for all possible cases (complete). The performance of the method is validated by extensive simulations and experimentations, and the estimated parameters from the proposed method demonstrate better accuracy than previous methods.
| Original language | English |
|---|---|
| Article number | 7551208 |
| Pages (from-to) | 1245-1263 |
| Number of pages | 19 |
| Journal | IEEE Transactions on Robotics |
| Volume | 32 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 2016 Oct 1 |
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Keywords
- Calibration and identification
- range sensing
- sensor fusion
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
Cite this
Full-DOF Calibration of a Rotating 2-D LIDAR with a Simple Plane Measurement. / Kang, Jaehyeon; Doh, Nakju.
In: IEEE Transactions on Robotics, Vol. 32, No. 5, 7551208, 01.10.2016, p. 1245-1263.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Full-DOF Calibration of a Rotating 2-D LIDAR with a Simple Plane Measurement
AU - Kang, Jaehyeon
AU - Doh, Nakju
PY - 2016/10/1
Y1 - 2016/10/1
N2 - This paper proposes a calibration method that accurately estimates six parameters between the two centers of 2-D light detection and ranging (LIDAR) and a rotating platform. This method uses a simple plane, and to the best of our knowledge, it is the first to enable full-degree-of-freedom (DOF) estimation without additional hardware. The key concept behind this method is a decoupling property, in which the direction of a line on a plane does not contain 3-DOF translation terms. Based on this, a cost function for rotation is constructed, and 3-DOF rotation parameters are estimated. With this rotation, the remaining 3-DOF translation parameters are calculated in a manner that minimizes the cost function for translation only. In other words, an original 6-DOF problem is decoupled into two 3-DOF estimation problems. Given these cost functions, degenerate cases are mathematically analyzed for known cases (incomplete), and the robustness is numerically tested for all possible cases (complete). The performance of the method is validated by extensive simulations and experimentations, and the estimated parameters from the proposed method demonstrate better accuracy than previous methods.
AB - This paper proposes a calibration method that accurately estimates six parameters between the two centers of 2-D light detection and ranging (LIDAR) and a rotating platform. This method uses a simple plane, and to the best of our knowledge, it is the first to enable full-degree-of-freedom (DOF) estimation without additional hardware. The key concept behind this method is a decoupling property, in which the direction of a line on a plane does not contain 3-DOF translation terms. Based on this, a cost function for rotation is constructed, and 3-DOF rotation parameters are estimated. With this rotation, the remaining 3-DOF translation parameters are calculated in a manner that minimizes the cost function for translation only. In other words, an original 6-DOF problem is decoupled into two 3-DOF estimation problems. Given these cost functions, degenerate cases are mathematically analyzed for known cases (incomplete), and the robustness is numerically tested for all possible cases (complete). The performance of the method is validated by extensive simulations and experimentations, and the estimated parameters from the proposed method demonstrate better accuracy than previous methods.
KW - Calibration and identification
KW - range sensing
KW - sensor fusion
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UR - http://www.scopus.com/inward/citedby.url?scp=85032069437&partnerID=8YFLogxK
U2 - 10.1109/TRO.2016.2596769
DO - 10.1109/TRO.2016.2596769
M3 - Article
VL - 32
SP - 1245
EP - 1263
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
SN - 1552-3098
IS - 5
M1 - 7551208
ER -