DocumentCode :
2864399
Title :
Design and Calibration of a Fast 3D Scanning LADAR
Author :
Xiang, Zhiyu ; Wu, Eryong
Author_Institution :
Dept. of Inf. & Electron. Eng., Zhejiang Univ., Hangzhou
fYear :
2006
fDate :
25-28 June 2006
Firstpage :
211
Lastpage :
215
Abstract :
A fast 3D scanning laser radar is designed and calibrated. A set of mechanical equipment driven by a step motor is designed to rotate the scanning plane of a 2D laser range finder to realize 3D scanning. A micro-controller system is embedded for the scanning control and synchronization with the host computer. Measurement data are acquired by a self-developed high-speed data transmission board. Besides the inherent measurement error of the 2D laser range finder, the error of the resulting 3D LADAR system is mainly caused by two reasons: 1) the unknown offset between the axis of the pitching motion and the actual origin of the 2D laser range finder; 2) the initial attitude error. Based on the system measurement model, a least sum of squared error method is adopted to calibrate the system. The experimental results show that the resulting system has high scanning speed, high data accuracy and therefore is a cost effective means to acquire high quality 3D data
Keywords :
calibration; laser ranging; optical control; optical radar; 2D laser range finder; 3D scanning laser radar; micro-controller system; radar calibration; squared error method; step motor; Calibration; Computer errors; Control systems; Costs; Data communication; Embedded computing; Laser modes; Laser radar; Measurement errors; Optical design; 3D laser range finder; calibration; design;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
Type :
conf
DOI :
10.1109/ICMA.2006.257498
Filename :
4026082
Link To Document :
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