Full-DOF Calibration of a Rotating 2-D LIDAR with a Simple Plane Measurement

Jaehyeon Kang, Nakju Lett Doh

Research output: Contribution to journalArticlepeer-review

36 Citations (Scopus)


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 languageEnglish
Article number7551208
Pages (from-to)1245-1263
Number of pages19
JournalIEEE Transactions on Robotics
Issue number5
Publication statusPublished - 2016 Oct


  • Calibration and identification
  • range sensing
  • sensor fusion

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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