Abstract
The number of LIDAR sensors installed in robotic vehicles has been increasing, which is a situation that reinforces the concern of sensor calibration. Most calibration systems rely on manual or semi-automatic interactive procedures, but fully automatic methods are still missing due to the variability of the nearby objects with the point of view. However, if some simple objects could be detected and identified automatically by all the sensors from several points of view, then automatic calibration would be possible on the fly. This is indeed feasible if a ball is placed in motion in front of the set of uncalibrated sensors allowing them to detect its center along the successive positions. This set of centers generates a point cloud per sensor, which, by using segmentation and fitting techniques, allows the calculation of the rigid body transformation between all pairs of sensors. This paper proposes and describes such a method with encouraging preliminary results.
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Pereira, M., Santos, V., Dias, P. (2016). Automatic Calibration of Multiple LIDAR Sensors Using a Moving Sphere as Target. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_37
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DOI: https://doi.org/10.1007/978-3-319-27146-0_37
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