Pairwise LIDAR Calibration Using Multi-Type 3D Geometric Features in Natural Scene

摘要

It has become a well-known technology that 3D measurement of a large environment could be achieved by using a number of 2D LIDARs on a mobile platform. In such a system, calibration is essential for making collaborative use of different LIDAR data, while existing methods usually require modifications to the environments, such as putting calibration targets, or rely on special facilities, which is labor intensive and put many restrictions to potential applications. This research aims at developing a calibration method for multiple 2D LIDAR sensing systems, which could be conducted in a general outdoor environment using the features of a nature scene. Special focus is cast on solving the noisy sensing in a complex environment and the occlusions caused by largely different sensor viewpoints. A multi-type geometric feature based calibration algorithm is proposed, which extracts the features such as points, lines, planes and quadrics from the 3D points of each LIDAR sensing. Transformation parameters from each sensor to the frame on a moving platform is estimated by matching the multi-type features. Experiments are conducted using the data sets of an intelligent vehicle platform (POSS-V) through a driving in the campus of Peking University. Results of calibrating two LIDAR sensors with largely different viewpoints are presented, and the accuracy and robustness concerning noisy feature extractions are examined intensively.