A calibration method of dual two-dimensional laser range finders for mobile manipulator

Abstract

In this article, a method for calibrating the relative position between dual two-dimensional laser range finders is proposed. This relative position is affected by the manufacture or assembling error of mobile platform, and this error could reduce the accuracy of localization. This article focuses on three-degree-of-freedom calibration, that is, one rotational and two translational degrees of freedom. The entire calibration process can be summed up into three steps. The first step is to allow the dual finders to scan one corner at the same time and then extract the parameters of the corner. The second step is to establish a cost function which is established according to the direction vector of the line and the repeatability of the corners. With this function, the genetic algorithm is used to obtain the final calibration result. Moreover, the finder systematic error and the statistical error are also considered into this article. Simulations and experiments are carried out to verify the proposed method.

Dynamic characteristics analysis of deployable panel with clearance joint based on three-dimensional clearance measurement

“…Firstly, the trajectory of the target of laser tracker is solved using the spatial two-point method, then, the trajectory of the target is measured directly by the laser tracker [26], finally, the results are compared.…”

Extrinsic Calibration of Multiple Two-Dimensional Laser Rangefinders Based on a Trihedron

“…Fernández et al [23] proposed a method to calibrate a set of LRFs by observing a common planar surface from different orientations. Song et al [24] calibrated two dual 2D laser rangefinders by a internal corner in the room, but it can only be used in the situation where two LRFs are set at the same plane. Sharifzadeh et al [25] determined the accurate position of the LRFs relative to the robot using a single-plane as calibration target.…”