LIDAR Velodyne HDL-64E Calibration Using Pattern Planes

被引：85

作者：

Atanacio-Jimenez, Gerardo ^{[1
]}

Gonzalez-Barbosa, Jose-Joel ^{[2
]}

Hurtado-Ramos, Juan B. ^{[2
]}

Ornelas-Rodriguez, Francisco J. ^{[2
]}

Jimenez-Hernandez, Hugo ^{[3
]}

Garcia-Ramirez, Teresa ^{[4
]}

Gonzalez-Barbosa, Ricardo ^{[5
]}

机构：

[1] Inst Tecnol Queretaro, Dept Metalmecan, Queretaro, Mexico

[2] Ctr Invest Ciencia Aplicada & Tecnol Avanzada, Mexico City, DF, Mexico

[3] Ctr Ingn & Desarrollo Ind, Queretaro, Mexico

[4] Univ Autonoma Queretaro, Queretaro, Mexico

[5] Univ Guanajuato, Div Ciencias Vida, Guanajuato, Mexico

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2011年 / 8卷 / 05期

关键词：

LIDAR; Calibration; Pattern Planes; STABILITY; SCANNER; S2;

D O I：

10.5772/50900

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This work describes a method for calibration of the Velodyne HDL-64E scanning LIDAR system. The principal contribution was expressed by a pattern calibration signature, the mathematical model and the numerical algorithm for computing the calibration parameters of the LIDAR. In this calibration pattern the main objective is to minimize systematic errors due to geometric calibration factor. It describes an algorithm for solution of the intrinsic and extrinsic parameters. Finally, its uncertainty was calculated from the standard deviation of calibration result errors.

引用

页码：70 / 82

页数：13

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