Calibration of 2D LiDAR sensors using cylindrical target


Tamás Tófalvi (Eotvos Lorand University), Bandó Kovács (Eotvos Lorand University), Levente Hajder (Eotvos Lorand University)
The 35th British Machine Vision Conference
PDFPosterVideo (Right click to download)

Abstract

This paper presents a novel method for estimating the relative pose of a 2D LiDAR sensor pair. Some approaches use other kinds of sensors in addition to the 2D LiDARs, such as cameras, IMUs, and 3D LiDARs to perform the calibration. State-of-the-art methods restricted to only using 2D LiDARs require perpendicular planes as a calibration target. In this work, we explore the idea of using cylinders as the target of the calibration. By scanning a cylinder, we can derive 3D information about the pose of the 2D sensor relative to the environment. With three different measurements by the sensor pair, the relative pose can be calculated. In this paper, we present the whole calibration pipeline and test results using synthetic data from simulation and results on real-world data in comparison to rival methods.

Citation

@inproceedings{Tófalvi_2024_BMVC,
author    = {Tamás Tófalvi and Bandó Kovács and Levente Hajder},
title     = {Calibration of 2D LiDAR sensors using cylindrical target},
booktitle = {35th British Machine Vision Conference 2024, {BMVC} 2024, Glasgow, UK, November 25-28, 2024},
publisher = {BMVA},
year      = {2024},
url       = {https://papers.bmvc2024.org/0797.pdf}
}


Copyright © 2024 The British Machine Vision Association and Society for Pattern Recognition
The British Machine Vision Conference is organised by The British Machine Vision Association and Society for Pattern Recognition. The Association is a Company limited by guarantee, No.2543446, and a non-profit-making body, registered in England and Wales as Charity No.1002307 (Registered Office: Dept. of Computer Science, Durham University, South Road, Durham, DH1 3LE, UK).

Imprint | Data Protection