TY - JOUR
T1 - Full-DOF Calibration of a Rotating 2-D LIDAR with a Simple Plane Measurement
AU - Kang, Jaehyeon
AU - Doh, Nakju Lett
N1 - Funding Information:
This work was supported in part by the Global Frontier R and D Program on Human-Centered Interaction for Coexistence funded by the National Research Foundation of Korea (NRF) under Grant NRF-2011-0031648 andGrant NRF-2012R1A2A2A01044957 funded by the Korean Government (Minister of Science, ICT and Future Planning).
Publisher Copyright:
© 2016 IEEE.
PY - 2016/10
Y1 - 2016/10
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
UR - http://www.scopus.com/inward/record.url?scp=85032069437&partnerID=8YFLogxK
U2 - 10.1109/TRO.2016.2596769
DO - 10.1109/TRO.2016.2596769
M3 - Article
AN - SCOPUS:85032069437
VL - 32
SP - 1245
EP - 1263
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
SN - 1552-3098
IS - 5
M1 - 7551208
ER -