Automatic 2-D LiDAR geometric calibration of installation bias

作     者：Guerreiro, Bruno J. Silvestre, Carlos Oliveira, Paulo 

作者机构：Univ Lisbon Inst Super Tecn Inst Syst & Robot P-1699 Lisbon Portugal Univ Macau Fac Sci & Technol Dept Elect & Comp Engn Taipa Peoples R China 

出 版 物：《ROBOTICS AND AUTONOMOUS SYSTEMS》 (机器人学和自控系统)

年 卷 期：2014年第62卷第8期

页      面：1116-1129页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：FCT [PEst-OE/EEI/LA0009/2013, PTDC/HIS-ARQ/103227/2008] project AIRTICI from AdI through the POS Conhecimento Program Portuguese FCT POCTI programme [SFRH/BD/21781/2005] Fundação para a Ciência e a Tecnologia [SFRH/BD/21781/2005, PTDC/HIS-ARQ/103227/2008] Funding Source: FCT 

主　　题：Calibration Range sensing Special orthogonal group Mapping Aerial robotics 

摘      要：This paper proposes two estimation algorithms for the determination of the attitude installation matrix for 2-D light detection and ranging (LiDAR) systems on board unmanned aerial vehicles (UAVs). While a comparative calibration algorithm assumes the existence of a known calibration surface, an automatic calibration algorithm does not require any prior knowledge of the trajectories of the vehicle or the terrain where the calibration mission is performed. The proposed calibration algorithms rely on the minimization of the errors between the measured point cloud and a representation of the known calibration surface or, alternatively, the errors between several acquired point clouds, by comparing each measured point cloud with a surface representation of the others. The resulting optimization problems are addressed using two techniques: (i) nonlinear optimization, where the attitude installation rotation matrix is parameterized by the ZYX Euler angles, and (ii) optimization on Riemannian manifolds, enabling the estimation of the attitude installation matrix on the group of special orthogonal matrices sO(3). The proposed calibration techniques are extensively validated and compared using both simulated and experimental LiDAR data sets, demonstrating their accuracy and performance. (C) 2014 Elsevier B.V. All rights reserved.