Boresight Calibration of Construction Misalignments for 3D Scanners Built with a 2D Laser Rangefinder Rotating on Its Optical Center

Sensors

Jesús Morales¹  Jorge L. Martínez¹  Anthony Mandow¹  Antonio J. Reina¹  Alejandro Pequeño-Boter² 

[1] Departamento de Ingeniería de Sistemas y Automática, Universidad de Málaga, Andalucía Tech, 29071-Málaga, Spain; E-Mails:;Ingeniería UNO, Calle Alcalde Garret y Souto, 38, 29006-Málaga, Spain; E-Mail:

关键词: range sensors;    system calibration;    3D laser scanner;    plane detection;    quality control;   

DOI  :  10.3390/s141120025

来源: mdpi

【 摘 要 】

Many applications, like mobile robotics, can profit from acquiring dense, wide-ranging and accurate 3D laser data. Off-the-shelf 2D scanners are commonly customized with an extra rotation as a low-cost, lightweight and low-power-demanding solution. Moreover, aligning the extra rotation axis with the optical center allows the 3D device to maintain the same minimum range as the 2D scanner and avoids offsets in computing Cartesian coordinates. The paper proposes a practical procedure to estimate construction misalignments based on a single scan taken from an arbitrary position in an unprepared environment that contains planar surfaces of unknown dimensions. Inherited measurement limitations from low-cost 2D devices prevent the estimation of very small translation misalignments, so the calibration problem reduces to obtaining boresight parameters. The distinctive approach with respect to previous plane-based intrinsic calibration techniques is the iterative maximization of both the flatness and the area of visible planes. Calibration results are presented for a case study. The method is currently being applied as the final stage in the production of a commercial 3D rangefinder.

【 授权许可】

CC BY   
© 2014 by the authors; licensee MDPI, Basel, Switzerland.