Automated calibration of distributed laser range finders based on object tracking in overlapping sen

Takeshi Sasaki, Hideki Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, we address the automated calibration of the pose of distributed laser range finders in smart environments, which are spaces with multiple embedded and networked sensors and actuators. This method is based on object tracking in overlapping sensing regions: the positions of same tracked objects in each sensor's coordinate system are used to calculate relative position and orientation of the sensors. We focus on extension of this mobile-assisted approach in order to utilize general moving objects such as humans and not limited to mobile robots. In case that mobile robots are used as calibration objects, the model of the mobile robots can be used to determine which mobile robots are being tracked. However, if the general moving object is utilized, we have to judge whether two tracked objects in different sensors are same object or not. So estimation error is utilized for the decision on the corresponding object. Experimental results shows that this method can find the correct correspondence and achieve almost the same result as manual calibration case.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume17
Edition1 PART 1
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul
Duration: 2008 Jul 62008 Jul 11

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CitySeoul
Period08/7/608/7/11

Fingerprint

Range finders
Mobile robots
Calibration
Lasers
Sensors
Error analysis
Actuators

Keywords

  • Autonomous robotic systems
  • Multi sensor systems
  • Perception and sensing

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Automated calibration of distributed laser range finders based on object tracking in overlapping sen. / Sasaki, Takeshi; Hashimoto, Hideki.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 17 1 PART 1. ed. 2008.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sasaki, T & Hashimoto, H 2008, Automated calibration of distributed laser range finders based on object tracking in overlapping sen. in IFAC Proceedings Volumes (IFAC-PapersOnline). 1 PART 1 edn, vol. 17, 17th World Congress, International Federation of Automatic Control, IFAC, Seoul, 08/7/6. https://doi.org/10.3182/20080706-5-KR-1001.2788
Sasaki, Takeshi ; Hashimoto, Hideki. / Automated calibration of distributed laser range finders based on object tracking in overlapping sen. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 17 1 PART 1. ed. 2008.
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