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Multiple Lidar Calibration Surface Registration Aras Akbari Dr.Liam Pedersen

Multiple Lidar Calibration Surface Registration Aras Akbari Dr.Liam Pedersen. LER (SEV) System Overview. Hokuyo UTM-30LX Lidar 45 Hz scan rate 180° range, 0.25° angular resolution. SICK LMS 291 Lidar 70 Hz scan rate 180° range, 0.25° angular resolution. Problem Statement.

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Multiple Lidar Calibration Surface Registration Aras Akbari Dr.Liam Pedersen

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  1. Multiple Lidar CalibrationSurface RegistrationAras Akbari Dr.Liam Pedersen

  2. LER (SEV) System Overview • Hokuyo UTM-30LX Lidar • 45 Hz scan rate • 180° range, • 0.25° angular resolution • SICK LMS 291 Lidar • 70 Hz scan rate • 180° range, • 0.25° angular resolution

  3. Problem Statement Point clouds from different lidars not well aligned using best estimates (digital level)

  4. Problem Statement Optimize Point at time t in lidar fram Pos at time t Laser pose WRT Robot

  5. Surface Registration ICP: point To point matching Finding the rotation, translation between two point clouds by solving the orientation problem using Horn's quaternion-based method. Result : Reason -> No point to point correspondences.

  6. * * * * * * * ∆t * * * * * * * Terrain Problem The Terrains are different. • Time difference • Pose estimator error

  7. Surface Registration Used Nelder Mead method to minimize the Mahalanobis distance betweenthe corresponding points Where is the mean vector and ∑ is the covariance matrix of closets point to x in

  8. Solved globally

  9. Multiple Lidar Calibration Calibrate lidar’s wrt primary: reference lidar point set (global coords) adjusted lidar points (wrt rover) at time t Pose at time t calibration correction

  10. No calibration target required But need some vertical relief.

  11. Question ? Question ?? Questions??

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