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.
Highlights
A mobile manipulator with extended mobility can be utilized in various applications, such as drilling/riveting in aircraft manufacturing, baseline drawing in decoration engineering, and nuclear reactor maintenance.[1,2,3,4,5]
Calibration was conducted at all 16 target positions, with tx ; ty, and !z results given in Figures 11 to 13
One method is proposed for the calibration between dual 2-D laser range finders, which avoids the need for specific calibration patterns
Summary
A mobile manipulator with extended mobility can be utilized in various applications, such as drilling/riveting in aircraft manufacturing, baseline drawing in decoration engineering, and nuclear reactor maintenance.[1,2,3,4,5] There are several issues associated with mobile manipulator, and localization is the most important one. In view of localization with laser range finder, dual sensors mounted on the two corners of the mobile platform is the common form.[6,7,8,9] If the relative position between dual finders cannot be accurate, the error of the data registration between the dual finders will be caused, and the final accuracy of localization will be reduced. Under such circumstances, the calibration of dual two-dimensional (2-D) laser range finders is an issue which is not fully researched. The second one is with camera aided, while the last one is with
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