Zhu Fei, Huang Yuchun, Tian Zizhu, Ma Yaowei
School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430072, China.
Sensors (Basel). 2020 Mar 26;20(7):1837. doi: 10.3390/s20071837.
Multiple two-dimensional laser rangefinders (LRFs) are applied in many applications like mobile robotics, autonomous vehicles, and three-dimensional reconstruction. The extrinsic calibration between LRFs is the first step to perform data fusion and practical application. In this paper, we proposed a simple method to calibrate LRFs based on a corner composed of three mutually perpendicular planes. In contrast to other methods that require a special pattern or assistance from other sensors, the trihedron corner needed in this method is common in daily environments. In practice, we can adjust the position of the LRFs to observe the corner until the laser scanning plane intersects with three planes of the corner. Then, we formed a Perspective-Three-Point problem to solve the position and orientation of each LRF at the common corner coordinate system. The method was validated with synthetic and real experiments, showing better performance than existing methods.
多个二维激光测距仪（LRF）被应用于许多领域，如移动机器人、自动驾驶车辆和三维重建。LRF之间的外部校准是进行数据融合和实际应用的第一步。在本文中，我们提出了一种基于由三个相互垂直平面组成的角点来校准LRF的简单方法。与其他需要特殊图案或其他传感器辅助的方法不同，该方法所需的三面角点在日常环境中很常见。在实际操作中，我们可以调整LRF的位置以观察角点，直到激光扫描平面与角点的三个平面相交。然后，我们形成了一个透视三点问题来求解每个LRF在公共角点坐标系中的位置和方向。该方法通过合成实验和实际实验得到了验证，表现出比现有方法更好的性能。
