3D laser methods for calibrating and localising robotic vehicles

Thesis

This thesis is about the construction and automatic target-less calibration of a 3D laser sensor; this is then used to localise an autonomous vehicle without using other sensors.

Two novel contributions to our knowledge of robotics are presented here. The first is an automatic calibration routine, which is capable of learning its calibration parameters using only data from a 3D laser scanner. Targets with known dimensions are not required, as has previously been the case. The second...

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Authors: Sheehan, M

• Publication date: 2013
• DOI: 10.5287/ora-dq2jp5xvm
• Type of award: DPhil
• Level of award: Doctoral
• Awarding institution: University of Oxford
• Language: English
• Keywords: robotics
• Subjects: Vehicle guidance (information eng); Information engineering; Technology and Applied Sciences; Electronics; Robotics; Engineering & allied sciences