Calibration and evaluation of parameters in a 3D proximity rotating scanner

Abstract

This paper presents the procedures enabling the calibration and evaluation of intrinsic parameters in a Velodyne multi-beam laser scanner. As the device will be utilized in field robotics applications, both the evaluated parameters and the calibration are generally aimed to improve the performance of the scanner with advanced mapping algorithms such as robot evidence grids or octree. The measured parameters are compared with the data provided by the manufacturer. A novel calibration method based on conditional adjustment for correlated measurements is proposed and compared with factory calibration.This paper presents the procedures enabling the calibration and evaluation of intrinsic parameters in a Velodyne multi-beam laser scanner. As the device will be utilized in field robotics applications, both the evaluated parameters and the calibration are generally aimed to improve the performance of the scanner with advanced mapping algorithms such as robot evidence grids or octree. The measured parameters are compared with the data provided by the manufacturer. A novel calibration method based on conditional adjustment for correlated measurements is proposed and compared with factory calibration.