NDLI: Nonlinear and geometric optimization methods for LADAR calibration

Content Provider	IEEE Xplore Digital Library
Author	Guerreiro, B. Silvestre, C. Oliveira, P. Vasconcelos, J.F.
Copyright Year	2008
Description	Author affiliation: Inst. Super. Tecnico, Lisbon (Guerreiro, B.; Silvestre, C.; Oliveira, P.; Vasconcelos, J.F.)
Abstract	This paper proposes two estimation algorithms for the determination of attitude installation matrix for Laser Detection and Ranging systems (LADAR) mounted onboard autonomous vehicles. The use of autonomous vehicles equipped with LADAR systems to conduct fully automatic surveys of terrain, infrastructures, or just to navigate safely in unknown environments, motivates the research on increasingly precise LADAR data acquisition and processing algorithms, for which the determination of the correct installation matrix is critical. The proposed methods rely on the minimization of the errors between the measured data set and a representation of the real calibration surface. To minimize this error, two nonlinear optimization techniques are proposed, one that estimates the ZYX Euler angles and a second that uses optimization tools for Riemannian manifolds enabling direct estimation of the installation matrix on the group of special orthogonal matrices SO(3). The proposed techniques are extensively tested and their effectiveness compared resorting to simulated LADAR data sets under realistic noise conditions.
Starting Page	1406
Ending Page	1411
File Size	258109
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543399
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optimization methods Laser radar Calibration Remotely operated vehicles Mobile robots Position measurement Vehicle detection Vehicle safety Navigation Data acquisition
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Road-boundary detection and tracking using ladar sensing

Sensing for autonomous vehicle navigation

Robust vehicle localization in urban environments using probabilistic maps

The design of a radar-based navigation system for large outdoor vehicles

Proposed position and heading measurement system using laser beams on the vehicle and corner cubes

Evaluation of internal navigation sensor suites for underground mining vehicle navigation

Integrated obstacle and road tracking using a laser scanner

Evaluation of terrain using LADAR data in urban environment for autonomous vehicles and its application in the DARPA urban challenge

Model-based estimation of off-highway road geometry using single-axis LADAR and inertial sensing

Nonlinear and geometric optimization methods for LADAR calibration

Similar Documents

Road-boundary detection and tracking using ladar sensing

Sensing for autonomous vehicle navigation

Robust vehicle localization in urban environments using probabilistic maps

The design of a radar-based navigation system for large outdoor vehicles

Proposed position and heading measurement system using laser beams on the vehicle and corner cubes

Evaluation of internal navigation sensor suites for underground mining vehicle navigation

Integrated obstacle and road tracking using a laser scanner

Evaluation of terrain using LADAR data in urban environment for autonomous vehicles and its application in the DARPA urban challenge

Model-based estimation of off-highway road geometry using single-axis LADAR and inertial sensing

Nonlinear and geometric optimization methods for LADAR calibration