doiSerbia

Calibration of a 2D laser scanner system and rotating platform using a point-plane constraint

Kurnianggoro Laksono (University of Ulsan, Graduate School of Electrical Engineering, Ulsan, Korea)
Hoang Van-Dung (University of Ulsan, Graduate School of Electrical Engineering, Ulsan, Korea)
Jo Kang-Hyun (University of Ulsan, Graduate School of Electrical Engineering, Ulsan, Korea)

The purpose of this study was to produce a low cost 3D scanner system using a rotating 2D laser scanner. There are two key parameters of this system, the rotation axis and the rotation radius. These two parameters were extracted through a calibration procedure. The calibration requires a planar checkerboard calibration pattern. Several poses were scanned to obtain the observation data. The rotation axis and the rotation radius were extracted by solving a linear equation constructed from a point-plane constraint, where all points lie on a plane and have a zero dot product to the surface normal to the plane. This method was tested on a simulation environment by generating synthetic data of the scanned calibration pattern. A comprehensive analysis was carried out to evaluate the performance of the proposed method. From the simulation results, it was demonstrated that this method achieved highly accurate results with an orientation error of 0.018 degree and a radius error of 0.2 cm.

Keywords: calibration, laser range finder, 3D scanner