Dynamic calibration and compensation of a 3D laser radar scanning system

Author

Chen, Y.D. ; Ni, J.

Author_Institution

Perceptron Inc., Farmington Hills, MI, USA

Volume

9

Issue

3

fYear

1993

fDate

6/1/1993 12:00:00 AM

Firstpage

318

Lastpage

323

Abstract

LIDAR (laser radar) is used to measure three-dimensional (3-D) object positions. It produces a range and an intensity image of the measured object and relies on the range image to determine the 3-D positions of the object. Because the range image is frequently corrupted with noise, a dynamic method to improve the LIDAR accuracy, based on a polynomial calibration model and an autoregressive moving-average calibration model, has been established. Experimental results show that the measurement errors of the LIDAR system have been reduced from 163 counts to 18 counts after compensation using the polynomial calibration model and that the errors have been further reduced to 11 counts with the ARMA model

Keywords

calibration; compensation; measurement by laser beam; optical radar; position measurement; statistical analysis; 3D laser radar scanning system; 3D object position measurement; ARMA; LIDAR; autoregressive moving-average calibration model; compensation; dynamic calibration; laser radar; polynomial calibration model; range image; Autoregressive processes; Calibration; Cameras; Image sensors; Laser radar; Pixel; Polynomials; Position measurement; Radar imaging; Radar measurements;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.240202

Filename

240202