Analyse unterschiedlicher Positionskombi-nationen zur intrinsischen und extrinsischen Kalibrierung eines Velodyne VLP-16

authored by: Dominik Ernst, Sören Vogel, Ingo Neumann, Hamza Alkhatib
Abstract: The usage of low-cost laser scanners increased steadily in recent years. Especially in areas like logistics or navigations, these sensors are invaluable for perception tasks. Kinematic multi-sensor systems (MSS) for efficient data acquisition require spatial referencing and time synchronization. This kind of extrinsic calibration for a laser scanner in a (kinematic) MSS can be done by a system calibration using object space information which uses reference geometries to determine the origin of the laser scanner frame. In this procedure, additional intrinsic parameters can be estimated. The results of the calibration depend on the calibration environment and the choice of positions of the system in the calibration environment. In this article, the procedure for the system calibration with respect to a platform coordinate system is shown using a real dataset acquired by a Velodyne VLP-16. In addition to the transformation parameters between the sensor-frame and the platform-frame, a distance offset is estimated. This is done using a plane representation, which enables to update the parameters from prior calibrations using a Gauß-Helmert model. This can reduce the effort to capture the calibration environment. Based on the results, different variants with different positions are compared against each other. Using an evaluation, it can be shown that a higher variation of positions leads to better results.
Organisation(s): Geodetic Institute
Type: Article
Journal: AVN Allgemeine Vermessungs-Nachrichten
Volume: 129
Pages: 244-252
No. of pages: 9
ISSN: 0002-5968
Publication date: 2022
Publication status: Published
Peer reviewed: Yes
ASJC Scopus subject areas: Geography, Planning and Development, Civil and Structural Engineering, Earth and Planetary Sciences (miscellaneous)
: Details in the research portal "Research@Leibniz University"