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ICRA
2010
IEEE

On-line calibration of multiple LIDARs on a mobile vehicle platform

13 years 11 months ago
On-line calibration of multiple LIDARs on a mobile vehicle platform
— In this paper, we examine the problem of extrinsic calibration of multiple LIDARs on a mobile vehicle platform. To achieve fully automated and on-line calibration, the original non-linear calibration model is reformulated as a second-order cone program (SOCP). This provides an advantage over more standard linearized approaches in that a priori information such as a default LIDAR calibration, calibration tolerances, etc., can be readily modeled. Furthermore, in contrast to general non-linear methods, the SOCP relaxation is convex, returns a global minimum, and can be solved very quickly using modern interior point methods (IPM). This enables the calibration to be estimated on-line for multiple LIDARs simultaneously. Experimental results are provided where the approach is used to successfully calibrate a pair of Sick LMS291-S14 LIDARs mounted on a mobile vehicle platform. These showed the SOCP formulation yielded a more accurate reconstruction and was 12 orders of magnitude faster th...
Chao Gao, John R. Spletzer
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Chao Gao, John R. Spletzer
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