複数LIDARを使用した3次元地図生成とキャリブレーション

抄録

The 3-D mapping data are necessary information for autonomous robot navigation. We progress a study to construct a 3-D point cloud map with extensive range and high resolution using two LIDARs which cover horizontal and vertical ranges. In this paper, we target construction of a calibration method to obtain parameters of coordinate conversion to integrate two LIDAR’s point cloud maps with good accuracy. In our method, we prepared for some types of boards where circles are opened and measured the boards using the two LIDARs simultaneously. The parameters of coordinate conversions are determined to match the circles on boards in two LIDARs data. Then, we have found that usage of multiple boards which multiple circles with different size and oblique array are opened is useful to obtain the good parameters.