DocumentCode
666124
Title
Proximity laser scanner calibration for rescue robotics
Author
Kocmanova, Petra ; Zalud, Ludek
Author_Institution
Fac. of Civil Eng., Brno Univ. of Technol., Brno, Czech Republic
fYear
2013
fDate
10-13 Nov. 2013
Firstpage
2460
Lastpage
2465
Abstract
The paper deals with calibration of scanner Velodyne HDL-64E that will be used in field robotic applications. The aim of calibration is to improve the performance in advanced mapping algorithms, like robot evidence grids or octree. The proposed novel calibration method is founded on conditional adjustment for correlated measurements and using close range photogrammetry. The proposed calibration significantly improved scanner accuracy.
Keywords
calibration; optical scanners; photogrammetry; rescue robots; robot vision; Velodyne HDL-64E scanner; advanced mapping algorithms; calibration method; close range photogrammetry; field robotic applications; octree; proximity laser scanner calibration; rescue robotics; robot evidence grids; Calibration; Equations; Lasers; Mathematical model; Measurement by laser beam; Robots; Standards; calibration; conditional adjustment; correction parameter; parametric adjustment;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE
Conference_Location
Vienna
ISSN
1553-572X
Type
conf
DOI
10.1109/IECON.2013.6699517
Filename
6699517
Link To Document