Abstract
In this research, we address the calibration of laser range finders distributed in Intelligent Space (iSpace) which is a space with multiple embedded and networked sensors and actuators. In order to realize automated calibration, we utilize moving objects that are not limited to mobile robots in the space. Moving objects can cover wide areas of the environment so there is no need to place many landmarks in exactly known positions beforehand. The calibration is performed based on the positions of moving objects in overlapping observable areas of different sensors. The relative position and orientation of sensors are first estimated from a set of corresponding points. The global poses of the sensors are then calculated from the relative pose estimations. Experimental results show the validity of the proposed method.
| Original language | English |
|---|---|
| Pages (from-to) | 239-244 |
| Number of pages | 6 |
| Journal | IFAC Proceedings Volumes (IFAC-PapersOnline) |
| Volume | 42 |
| Issue number | 16 |
| DOIs | |
| Publication status | Published - 2009 |
| Externally published | Yes |
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Keywords
- Calibration
- Distributed sensors
- Intelligent Space
- Laser range finder
- Object tracking
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Calibration of distributed laser range finders based on object tracking. / Sasaki, Takeshi; Hashimoto, Hideki.
In: IFAC Proceedings Volumes (IFAC-PapersOnline), Vol. 42, No. 16, 2009, p. 239-244.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Calibration of distributed laser range finders based on object tracking
AU - Sasaki, Takeshi
AU - Hashimoto, Hideki
PY - 2009
Y1 - 2009
N2 - In this research, we address the calibration of laser range finders distributed in Intelligent Space (iSpace) which is a space with multiple embedded and networked sensors and actuators. In order to realize automated calibration, we utilize moving objects that are not limited to mobile robots in the space. Moving objects can cover wide areas of the environment so there is no need to place many landmarks in exactly known positions beforehand. The calibration is performed based on the positions of moving objects in overlapping observable areas of different sensors. The relative position and orientation of sensors are first estimated from a set of corresponding points. The global poses of the sensors are then calculated from the relative pose estimations. Experimental results show the validity of the proposed method.
AB - In this research, we address the calibration of laser range finders distributed in Intelligent Space (iSpace) which is a space with multiple embedded and networked sensors and actuators. In order to realize automated calibration, we utilize moving objects that are not limited to mobile robots in the space. Moving objects can cover wide areas of the environment so there is no need to place many landmarks in exactly known positions beforehand. The calibration is performed based on the positions of moving objects in overlapping observable areas of different sensors. The relative position and orientation of sensors are first estimated from a set of corresponding points. The global poses of the sensors are then calculated from the relative pose estimations. Experimental results show the validity of the proposed method.
KW - Calibration
KW - Distributed sensors
KW - Intelligent Space
KW - Laser range finder
KW - Object tracking
UR - http://www.scopus.com/inward/record.url?scp=85006721955&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85006721955&partnerID=8YFLogxK
U2 - 10.3182/20090909-4-JP-2010.00042
DO - 10.3182/20090909-4-JP-2010.00042
M3 - Article
VL - 42
SP - 239
EP - 244
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - 16
ER -