A Calibration Method of Navigation System Integrated with Kinect and Laser Scanner
| Autor: | Xinwei Chen, Xiujuan Bao, Lu Zhou |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Laser scanning Computer science business.industry Distortion (optics) 020208 electrical & electronic engineering ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Navigation system 02 engineering and technology Laser law.invention 020901 industrial engineering & automation Lidar law 0202 electrical engineering electronic engineering information engineering Fuse (electrical) Calibration Computer vision Artificial intelligence Particle filter business |
| Zdroj: | RCAR |
| Popis: | This paper presents a new calibration method, which combines the advantages of Kinect large measurement range and high accuracy of laser scanner measurement. The proposed method innovatively designs a calibration objects with special shapes to complete the calibration of laser scanner. To achieve effective fusion between two kinds of sensor information, the laser scanner and Kinect are jointly calibrated to obtain the relative coordinate transform between them. Finally, a particle filter (PF) with the optimal importance function and importance weights is designed to fuse the measurements of the target’s range and bearing from the laser scanner and Kinect. The experimental results show that the proposed method can achieve satisfactory tracking performances. |
| Databáze: | OpenAIRE |
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