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Calibration of multiple 3D LiDAR sensors to a common vehicle frame

: Heide, Nina; Emter, Thomas; Petereit, Janko

Informationstechnische Gesellschaft -ITG-; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Frankfurt/Main; Informationskreis für Raumplanung e.V. -IfR-, Dortmund:
50th International Symposium on Robotics, ISR 2018 : June 20-21, 2018 Messe München, Entrance East, Munich, Germany
Berlin: VDE Verlag, 2018
ISBN: 978-3-8007-4699-6
ISBN: 3-8007-4699-9
International Symposium on Robotics (ISR) <50, 2018, Munich>
Conference Paper
Fraunhofer IOSB ()

A calibration procedure for multiple 3D LiDAR sensors to a vehicle coordinate system is presented. Calibration consists of several preprocessing steps and point cloud registration by applying the Generalized Iterative Closest Point (GICP) algorithm modified with regard to the particular calibration scenario. After the extrinsic calibration of the sensors, the point cloud composed of all LiDAR measurements is calibrated to the vehicle coordinate system. The calibration reference is provided by a 3D model of the vehicle. Assuming single digit centimeter precision of the sensor data, calibration can be accomplished with single digit centimeter precision.