Calibration of Planar Reflectors Reshaping LiDAR’s Field of View
This paper describes the calibration method for calculating parameters (position and orientation) of planar reflectors reshaping LiDAR’s (light detection and ranging) field of view. The calibration method is based on the reflection equation used in the ICP (Iterative Closest Point) optimization. A n...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-09-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/19/6501 |
| _version_ | 1827680511341887488 |
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| author | Michał Pełka Janusz Będkowski |
| author_facet | Michał Pełka Janusz Będkowski |
| author_sort | Michał Pełka |
| collection | DOAJ |
| description | This paper describes the calibration method for calculating parameters (position and orientation) of planar reflectors reshaping LiDAR’s (light detection and ranging) field of view. The calibration method is based on the reflection equation used in the ICP (Iterative Closest Point) optimization. A novel calibration process as the multi-view data registration scheme is proposed; therefore, the poses of the measurement instrument and parameters of planar reflectors are calculated simultaneously. The final metric measurement is more accurate compared with parameters retrieved from the mechanical design. Therefore, it is evident that the calibration process is required for affordable solutions where the mechanical design can differ from the inaccurate assembly. It is shown that the accuracy is less than 20 cm for almost all measurements preserving long-range capabilities. The experiment is performed based on Livox Mid-40 LiDAR augmented with six planar reflectors. The ground-truth data were collected using Z + F IMAGER 5010 3D Terrestrial Laser Scanner. The calibration method is independent of mechanical design and does not require any fiducial markers on the mirrors. This work fulfils the gap between rotating and Solid-State LiDARs since the field of view can be reshaped by planar reflectors, and the proposed method can preserve the metric accuracy. Thus, such discussion concludes the findings. We prepared an open-source project and provided all the necessary data for reproducing the experiments. That includes: Complete open-source code, the mechanical design of reflector assembly and the dataset which was used in this paper. |
| first_indexed | 2024-03-10T06:51:45Z |
| format | Article |
| id | doaj.art-0dfba925b9cf488fab960552e63e0c84 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T06:51:45Z |
| publishDate | 2021-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-0dfba925b9cf488fab960552e63e0c842023-11-22T16:47:10ZengMDPI AGSensors1424-82202021-09-012119650110.3390/s21196501Calibration of Planar Reflectors Reshaping LiDAR’s Field of ViewMichał Pełka0Janusz Będkowski1Tooploox, 53-601 Wrocław, PolandInstitute of Fundamental Technological Research, Polish Academy of Sciences, 02-106 Warsaw, PolandThis paper describes the calibration method for calculating parameters (position and orientation) of planar reflectors reshaping LiDAR’s (light detection and ranging) field of view. The calibration method is based on the reflection equation used in the ICP (Iterative Closest Point) optimization. A novel calibration process as the multi-view data registration scheme is proposed; therefore, the poses of the measurement instrument and parameters of planar reflectors are calculated simultaneously. The final metric measurement is more accurate compared with parameters retrieved from the mechanical design. Therefore, it is evident that the calibration process is required for affordable solutions where the mechanical design can differ from the inaccurate assembly. It is shown that the accuracy is less than 20 cm for almost all measurements preserving long-range capabilities. The experiment is performed based on Livox Mid-40 LiDAR augmented with six planar reflectors. The ground-truth data were collected using Z + F IMAGER 5010 3D Terrestrial Laser Scanner. The calibration method is independent of mechanical design and does not require any fiducial markers on the mirrors. This work fulfils the gap between rotating and Solid-State LiDARs since the field of view can be reshaped by planar reflectors, and the proposed method can preserve the metric accuracy. Thus, such discussion concludes the findings. We prepared an open-source project and provided all the necessary data for reproducing the experiments. That includes: Complete open-source code, the mechanical design of reflector assembly and the dataset which was used in this paper.https://www.mdpi.com/1424-8220/21/19/6501LiDARICPmappingcalibrationreshape field of viewsolid state LiDAR |
| spellingShingle | Michał Pełka Janusz Będkowski Calibration of Planar Reflectors Reshaping LiDAR’s Field of View Sensors LiDAR ICP mapping calibration reshape field of view solid state LiDAR |
| title | Calibration of Planar Reflectors Reshaping LiDAR’s Field of View |
| title_full | Calibration of Planar Reflectors Reshaping LiDAR’s Field of View |
| title_fullStr | Calibration of Planar Reflectors Reshaping LiDAR’s Field of View |
| title_full_unstemmed | Calibration of Planar Reflectors Reshaping LiDAR’s Field of View |
| title_short | Calibration of Planar Reflectors Reshaping LiDAR’s Field of View |
| title_sort | calibration of planar reflectors reshaping lidar s field of view |
| topic | LiDAR ICP mapping calibration reshape field of view solid state LiDAR |
| url | https://www.mdpi.com/1424-8220/21/19/6501 |
| work_keys_str_mv | AT michałpełka calibrationofplanarreflectorsreshapinglidarsfieldofview AT januszbedkowski calibrationofplanarreflectorsreshapinglidarsfieldofview |