Tamás Tófalvi, PhD student of our research group presented the work entitled ‘Calibration of 2D LiDAR sensors using cylindrical target’, written by Tófalvi Tamás, Bandó Kovács, and Levente Hajder.

Abstract:

This paper presents a novel method for estimating the relative pose of a 2D LiDAR sensor pair. Some approaches use other kinds of sensors in addition to the 2D LiDARs, such as cameras, IMUs, and 3D LiDARs to perform the calibration. State-of-the-art methods restricted to only using 2D LiDARs require perpendicular planes as a calibration target. In this work, we explore the idea of using cylinders as the target of the calibration. By scanning a cylinder, we can derive 3D information about the pose of the 2D sensor relative to the environment. With three different measurements by the sensor pair, the relative pose can be calculated. In this paper, we present the whole calibration pipeline and test results using synthetic data from simulation and results on real-world data in comparison to rival methods.

Links: paper, poster, Youtube video