Calibration of laser range finders based on moving object tracking in intelligent space

Takeshi Sasaki, Hideki Hashimoto

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

8 Citations (Scopus)

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 the mobile robots in the space. The mobility of mobile robots allows us to cover wide areas of the environment without placing many landmarks in the exact positions beforehand. The calibration is performed based on the positions of the mobile robots in world coordinate system and their corresponding points in local coordinate system. We also extend this approach to utilize general moving objects such as humans and not limited to mobile robots. The relative position and orientation of sensors are calculated based on the tracking result of moving objects in overlapping observable areas of different sensors. Experimental results show the validity of the proposed method.

Original languageEnglish
Title of host publicationProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Pages620-625
Number of pages6
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama
Duration: 2009 Mar 262009 Mar 29

Other

Other2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
CityOkayama
Period09/3/2609/3/29

Fingerprint

Range finders
Mobile robots
Calibration
Lasers
Sensors
Actuators

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

Cite this

Sasaki, T., & Hashimoto, H. (2009). Calibration of laser range finders based on moving object tracking in intelligent space. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 (pp. 620-625). [4919349] https://doi.org/10.1109/ICNSC.2009.4919349

Calibration of laser range finders based on moving object tracking in intelligent space. / Sasaki, Takeshi; Hashimoto, Hideki.

Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. p. 620-625 4919349.

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

Sasaki, T & Hashimoto, H 2009, Calibration of laser range finders based on moving object tracking in intelligent space. in Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009., 4919349, pp. 620-625, 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009, Okayama, 09/3/26. https://doi.org/10.1109/ICNSC.2009.4919349
Sasaki T, Hashimoto H. Calibration of laser range finders based on moving object tracking in intelligent space. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. p. 620-625. 4919349 https://doi.org/10.1109/ICNSC.2009.4919349
Sasaki, Takeshi ; Hashimoto, Hideki. / Calibration of laser range finders based on moving object tracking in intelligent space. Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. pp. 620-625
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