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Document type:
Zeitschriftenaufsatz 
Author(s):
Peters, Arne; Schmidt, Adam; Knoll, Alois C. 
Title:
Extrinsic Calibration of an Eye-In-Hand 2D LiDAR Sensor in Unstructured Environments Using ICP 
Abstract:
We propose a calibration method for the six degrees of freedom (DOF) extrinsic pose of a 2d laser rangefinder mounted to a robot arm. Our goal is to design a system that allows on-site re-calibration without requiring any kind of special environment or calibration objects. By moving the sensor we generate 3d scans of the surrounding area on which we run a iterative closest point (ICP) variant to estimate the missing part of the kinematic chain. With this setup we can simply scale the density an...    »
 
Keywords:
Calibration and Identification, Range Sensing, Sensor Fusion, 3d Reconstruction, Computer Vision for Other Robotic Applications 
Horizon 2020:
This letter is part of projects that have received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement Nos 680734 and 870133. 
Journal title:
IEEE Robotics and Automation Letters 
Year:
2020 
Journal volume:
Journal issue:
Pages contribution:
929--936 
Fulltext / DOI:
Publisher:
Institute of Electrical and Electronics Engineers (IEEE) 
Notes:
Presented at 2020 International Conference on Robotics and Automation (ICRA) 
Accepted:
31.12.2019 
Date of publication:
02.04.2020