Open AccessWeighted Calibration Algorithm of Multiple Laser Scanning Sensors Based on Measurement Error Correction
Author(s) -
Di Liu,
Liqiang Zhu,
Qian Zhang
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1575/1/012163
Subject(s) - calibration , laser scanning , algorithm , observational error , computer science , laser , mathematics , optics , statistics , physics
The calibration of pose transformation relationship among multiple laser scanning sensors or between one sensor and a reference coordinate system is of great importance to the accuracy of 3D laser scanning system. In some applications, such as section inspection of Metro tunnels, the sparsity of measuring points and high demand for accuracy make the calibration process very difficult. This paper proposes an automatically calibration algorithm, named GA-ICP-WHT, based on an improved ICP algorithm with point-wise measurement error corrections. The algorithm consists of stages: coarse registration with GA and fine registration with ICP and weighted Hong-Tan algorithm. Mathematical simulation and application experiments show that the proposed algorithm is accurate and robust for sparse point cloud registration.