Design of a mobile 3D imaging system based on 2D LIDAR and calibration with levenberg-marquardt optimization algorithm

被引：1
|
作者：
Miao, Ruikai [1 ,2 ]
Liu, Xinyue [1 ,2 ]
Pang, Yajun [1 ,2 ]
Lang, Liying [1 ,2 ]
机构：
[1] Hebei Univ Technol, Ctr Adv Laser Technol, Tianjin, Peoples R China
[2] Hebei Key Lab Adv Laser Technol & Equipment, Tianjin, Peoples R China
来源：
FRONTIERS IN PHYSICS | 2022年 / 10卷
基金：
中国国家自然科学基金;
关键词：
lidar; 3D imaging; point cloud; calibration; mobile; LASER SCANNER;
D O I：
10.3389/fphy.2022.993297
中图分类号：
O4 [物理学];
学科分类号：
0702 ;
摘要：
LIDAR is an excellent means to obtain the information of buildings, forests, bridges, tunnels and many other big scenes, but the high price of 3D LIDAR currently limits its further application. To meet this challenge a mobile 3D imaging system based on 2D LIDAR is proposed. The system has the characteristics of large imaging range and low cost. The composition and implementation principle of each module of the system are introduced in detail and a calibration method for the 3-axis assembly error is proposed. In this method Levenberg-Marquardt (LM) optimization algorithm is used to obtain the optimal value of the 2D LIDAR 3-axis attitude angle, which is used to compensate for the point cloud distortion caused by the assembly error. The experimental results show that the proposed method can effectively reduce the point cloud distortion caused by assembly error. This system can meet the application demand of big scenes 3D imaging.
引用
收藏
页数：12
相关论文
共 50 条
  • [1] Calibration Algorithm for a 3D Scanner Based on 2D Lidar and Visible Light Cameras
    Gulvanskii, Vyacheslav
    Minenko, Maxim
    Gavrilov, Georgii
    Bratchenko, Lev
    Kaplun, Dmitrii
    Shen, Zhirong
    2024 13TH MEDITERRANEAN CONFERENCE ON EMBEDDED COMPUTING, MECO 2024, 2024, : 274 - 278
  • [2] Autonomous Navigation System of Greenhouse Mobile Robot Based on 3D Lidar and 2D Lidar SLAM
    Jiang, Saike
    Wang, Shilin
    Yi, Zhongyi
    Zhang, Meina
    Lv, Xiaolan
    FRONTIERS IN PLANT SCIENCE, 2022, 13
  • [3] A new 3D imaging lidar based on the high-speed 2D laser scanner
    Hu, Chunsheng
    Huang, Zongsheng
    Qin, Shiqiao
    Wang, Xingshu
    OPTOELECTRONIC IMAGING AND MULTIMEDIA TECHNOLOGY II, 2012, 8558
  • [4] Design and calibration of a 3D modeling system by videogrammetry
    Herraez, J.
    Martinez-Llario, J.
    Coll, E.
    Rodriguez, J.
    Martin, M. T.
    MEASUREMENT SCIENCE AND TECHNOLOGY, 2013, 24 (03)
  • [5] An Improved Calibration Method for a Rotating 2D LIDAR System
    Zeng, Yadan
    Yu, Heng
    Dai, Houde
    Song, Shuang
    Lin, Mingqiang
    Sun, Bo
    Jiang, Wei
    Meng, Max Q. -H.
    SENSORS, 2018, 18 (02):
  • [6] Improvements to Target-Based 3D LiDAR to Camera Calibration
    Huang, Jiunn-Kai
    Grizzle, Jessy W.
    IEEE ACCESS, 2020, 8 : 134101 - 134110
  • [7] A novel high-speed 2D laser scanner for the 3D imaging lidar
    Hu, Chunsheng
    Huang, Zongsheng
    Qin, Shiqiao
    Wang, Xingshu
    OPTOELECTRONIC IMAGING AND MULTIMEDIA TECHNOLOGY II, 2012, 8558
  • [8] Development of a Low-Cost 3D Mapping Technology with 2D LIDAR for Path Planning Based on the A* Algorithm
    Ferreira, Edilson
    Grilo, Vinicius
    Braun, Joao
    Santos, Murillo
    Pereira, Ana I.
    Costa, Paulo
    Lima, Jose
    ROBOT 2023: SIXTH IBERIAN ROBOTICS CONFERENCE ADVANCES IN ROBOTICS, VOL 1, 2024, 976 : 53 - 66
  • [9] 3D Localization of a Mobile Robot by Using Monte Carlo Algorithm and 2D Features of 3D Point Cloud
    Vinicio Rosas-Cervantes
    Soon-Geul Lee
    International Journal of Control, Automation and Systems, 2020, 18 : 2955 - 2965
  • [10] 3D Localization of a Mobile Robot by Using Monte Carlo Algorithm and 2D Features of 3D Point Cloud
    Rosas-Cervantes, Vinicio
    Lee, Soon-Geul
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2020, 18 (11) : 2955 - 2965
12345