NDLI: Automatic calibration of a stationary network of laser range finders by matching movement trajectories

Content Provider	IEEE Xplore Digital Library
Author	Schenk, K. Kolarow, A. Eisenbach, M. Debes, K. Gross, H.-M.
Copyright Year	2012
Description	Author affiliation: Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology, 98694, Germany (Schenk, K.; Kolarow, A.; Eisenbach, M.; Debes, K.; Gross, H.-M.)
Abstract	Laser based detection and tracking of persons can be used for numerous tasks. While a single laser range finder (LRF) is sufficient for detecting and tracking persons on a mobile robot platform, a network of multiple LRF is required to observe persons in larger spaces. Calibrating multiple LRF into a global coordinate system is usually done by hand in a time consuming procedure. An automatic calibration mechanism for such a sensor network is introduced in this paper. Without the need of prior knowledge about the environment, this mechanism is able to obtain the positions and orientations of all LRF in a global coordinate system. By comparing person tracks, determined for each individual LRF unit and matching them, constrains between the LRF units can be calculated. We are able to estimate the poses of all LRF by resolving these constrains. We evaluate and compare our method to the current state of the art approach methodically and experimentally. Experiments show that our calibration approach outperforms this approach.
Starting Page	431
Ending Page	437
File Size	1172167
Page Count	7
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385620
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Calibration Lasers Robot kinematics Robot sensing systems Legged locomotion Synchronization
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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