| Citation: | CAI Jun, ZHAO Yuan, LI Yuhao, et al. A 3D laser scanning system design and parameter calibration[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(10): 2208-2216. doi: 10.13700/j.bh.1001-5965.2018.0029(in Chinese)
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Dynamic environment map construction technology based on 3D laser scanning system has been served as one of the important intelligent perception technologies for mobile robots. The design and calibration of 3D laser scanning system place a decisive influence on the accuracy of the constructed environment model.For implementation on low cost and miniaturization of 3D laser scanning system for small mobile robots, a 3D laser scanning system composed of high precision rotating cloud platform and small 2D laser ranging sensor is designed, and a new system parameter calibration method is proposed to improve the accuracy of 3D scanning measurement. A hollow circular hole calibration plate was used as the calibration object to capture the 3D scanning features automatically and accurately. The parameters of the 3D laser scanning system were then optimized with a nonlinear least square algorithm. The experimental results demonstrate that the designed 3D laser scanning system can accurately capture the 3D information of the surrounding environment, which realizes the 3D scanning data technique for high-quality environment modeling with a relatively low cost.
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