Extrinsic Calibration of 2D Laser Rangefinders Based on a Mobile Sphere
In the fields of autonomous vehicles, virtual reality and three-dimensional (3D) reconstruction, 2D laser rangefinders have been widely employed for different purposes, such as localization, mapping, and simultaneous location and mapping. However, the extrinsic calibration of multiple 2D laser range...
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doaj-437bc9cc1887485a925d0511ee9e168d2020-11-24T23:14:28ZengMDPI AGRemote Sensing2072-42922018-07-01108117610.3390/rs10081176rs10081176Extrinsic Calibration of 2D Laser Rangefinders Based on a Mobile SphereShoubin Chen0Jingbin Liu1Teng Wu2Wenchao Huang3Keke Liu4Deyu Yin5Xinlian Liang6Juha Hyyppä7Ruizhi Chen8State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaDepartment of Remote Sensing and Photogrammetry and the Center of Excellence in Laser Scanning Research, Finnish Geospatial Research Institute, 02430 Masala, FinlandDepartment of Remote Sensing and Photogrammetry and the Center of Excellence in Laser Scanning Research, Finnish Geospatial Research Institute, 02430 Masala, FinlandState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaIn the fields of autonomous vehicles, virtual reality and three-dimensional (3D) reconstruction, 2D laser rangefinders have been widely employed for different purposes, such as localization, mapping, and simultaneous location and mapping. However, the extrinsic calibration of multiple 2D laser rangefinders is a fundamental prerequisite for guaranteeing their performance. In contrast to existing calibration methods that rely on manual procedures or suffer from low accuracy, an automatic and high-accuracy solution is proposed in this paper for the extrinsic calibration of 2D laser rangefinders. In the proposed method, a mobile sphere is used as a calibration target, thereby allowing the automatic extrapolation of a spherical center and the automatic matching of corresponding points. Based on the error analysis, a matching machine of corresponding points with a low error is established with the restriction constraint of the scan circle radius, thereby achieving the goal of high-accuracy calibration. Experiments using the Hokuyo UTM-30LX sensor show that the method can increase the extrinsic orientation accuracy to a sensor intrinsic accuracy of 10 mm without requiring manual measurements or manual correspondence among sensor data. Therefore, the calibration method in this paper is automatic, highly accurate, and highly effective, and it meets the requirements of practical applications.http://www.mdpi.com/2072-4292/10/8/1176extrinsic calibration2D laser rangefinderpoint cloud3D data fitting |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Shoubin Chen Jingbin Liu Teng Wu Wenchao Huang Keke Liu Deyu Yin Xinlian Liang Juha Hyyppä Ruizhi Chen |
spellingShingle |
Shoubin Chen Jingbin Liu Teng Wu Wenchao Huang Keke Liu Deyu Yin Xinlian Liang Juha Hyyppä Ruizhi Chen Extrinsic Calibration of 2D Laser Rangefinders Based on a Mobile Sphere Remote Sensing extrinsic calibration 2D laser rangefinder point cloud 3D data fitting |
author_facet |
Shoubin Chen Jingbin Liu Teng Wu Wenchao Huang Keke Liu Deyu Yin Xinlian Liang Juha Hyyppä Ruizhi Chen |
author_sort |
Shoubin Chen |
title |
Extrinsic Calibration of 2D Laser Rangefinders Based on a Mobile Sphere |
title_short |
Extrinsic Calibration of 2D Laser Rangefinders Based on a Mobile Sphere |
title_full |
Extrinsic Calibration of 2D Laser Rangefinders Based on a Mobile Sphere |
title_fullStr |
Extrinsic Calibration of 2D Laser Rangefinders Based on a Mobile Sphere |
title_full_unstemmed |
Extrinsic Calibration of 2D Laser Rangefinders Based on a Mobile Sphere |
title_sort |
extrinsic calibration of 2d laser rangefinders based on a mobile sphere |
publisher |
MDPI AG |
series |
Remote Sensing |
issn |
2072-4292 |
publishDate |
2018-07-01 |
description |
In the fields of autonomous vehicles, virtual reality and three-dimensional (3D) reconstruction, 2D laser rangefinders have been widely employed for different purposes, such as localization, mapping, and simultaneous location and mapping. However, the extrinsic calibration of multiple 2D laser rangefinders is a fundamental prerequisite for guaranteeing their performance. In contrast to existing calibration methods that rely on manual procedures or suffer from low accuracy, an automatic and high-accuracy solution is proposed in this paper for the extrinsic calibration of 2D laser rangefinders. In the proposed method, a mobile sphere is used as a calibration target, thereby allowing the automatic extrapolation of a spherical center and the automatic matching of corresponding points. Based on the error analysis, a matching machine of corresponding points with a low error is established with the restriction constraint of the scan circle radius, thereby achieving the goal of high-accuracy calibration. Experiments using the Hokuyo UTM-30LX sensor show that the method can increase the extrinsic orientation accuracy to a sensor intrinsic accuracy of 10 mm without requiring manual measurements or manual correspondence among sensor data. Therefore, the calibration method in this paper is automatic, highly accurate, and highly effective, and it meets the requirements of practical applications. |
topic |
extrinsic calibration 2D laser rangefinder point cloud 3D data fitting |
url |
http://www.mdpi.com/2072-4292/10/8/1176 |
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