2차원 격자 오차 데이터 기반의 선형 보정 함수들을 이용한 적외선 레인지 파인더 PBS-03JN의 보정

Abstract

An efficient calibration algorithm for mobile robot localization using infrared range finder is proposed. A calibration is important to guarantee the performance of other algorithms which use sensor data because it is pre-process. We experimentally found that the infrared range finder PBS-03JN has error characteristics depending on both distance and scan angle. After obtaining 2-D grid error characteristic data on distance and scan angle, we proposed a simple and efficient calibration algorithm with a 2-D piecewise linear function set. The performance of our proposed calibration algorithm is verified by experiments and simulation.