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Self-calibration for a 3D laser

Abstract:

In this paper we describe a method for the automatic self-calibration of a 3D laser sensor. We wish to acquire crisp point clouds and so we adopt a measure of crispness to capture point cloud quality. We then pose the calibration problem as the task of maximizing point cloud quality. Concretely, we use Rényi Quadratic Entropy to measure the degree of organization of a point cloud. By expressing this quantity as a function of key unknown system parameters, we are able to deduce a full calibrat...

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Publication status:
Published

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Publisher copy:
10.1177/0278364911429475

Authors


Sheehan, M More by this author
Harrison, A More by this author
Journal:
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume:
31
Issue:
5
Pages:
675-687
Publication date:
2012-04-05
DOI:
EISSN:
1741-3176
ISSN:
0278-3649
URN:
uuid:ee597eb3-b687-490f-be52-204e50447eb6
Source identifiers:
329440
Local pid:
pubs:329440

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