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Titel:

Extrinsic Calibration of an Eye-In-Hand 2D LiDAR Sensor in Unstructured Environments Using ICP

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Peters, Arne; Schmidt, Adam; Knoll, Alois C.
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...     »
Stichworte:
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.
Zeitschriftentitel:
IEEE Robotics and Automation Letters
Jahr:
2020
Band / Volume:
5
Heft / Issue:
2
Seitenangaben Beitrag:
929--936
Volltext / DOI:
doi:10.1109/lra.2020.2965878
WWW:
https://doi.org/10.1109%25252Flra.2020.2965878
Verlag / Institution:
Institute of Electrical and Electronics Engineers (IEEE)
Hinweise:
Presented at 2020 International Conference on Robotics and Automation (ICRA)
Eingereicht (bei Zeitschrift):
10.09.2019
Angenommen (von Zeitschrift):
31.12.2019
Publikationsdatum:
02.04.2020
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