Abstract
A precise geometric calibration between the subsystems of a robotic system is crucial for its usage and applicability. As mobile robots are already being used in industry and households, the interest in mobile manipulators rises, and the calibration procedures between manipulators and the robot’s exteroceptive sensors becomes necessary. Nevertheless, state-of-the-art calibration procedures between a manipulator and a 2D laser scanner often require complex calibration targets or additional sensors for calibration. As a consequence the practical usage in an industrial context is limited. For this reason, we propose a simple but effective approach for determining the transformation between a manipulator and a 2D laser scanner. The transformation is solved for six degrees of freedom using a 1D calibration target. In this paper, the modeling of the original approach presented in [1] is extended to decrease the number of restrictions. Therefore, the objective function was improved leading to better optimization results and the methodology of the proposed approach is presented in more detail. Moreover, additional experiments are carried out to evaluate the accuracy of the extended calibration procedure. The effect of different calibration trajectories and calibration target’s geometries is evaluated additionally.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Alberts, J., Kleinschmidt, S.P., Wagner, B.: Robust calibration procedure of a manipulator and a 2D laser scanner using a 1D calibration target. In: Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, pp. 112–119 (2019)
Andersen, T.T., Andersen, N.A., Ravn, O.: Calibration between a laser range scanner and an industrial robot manipulator. In: 2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA), pp. 1–8 (2014)
Antone, M.E., Friedman, Y.: Fully automated laser range calibration. In: British Machine Vision Conference (BMVC) (2007)
Elatta, A.Y., Gen, L.P., Zhi, F.L., Daoyuan, Y., Fei, L.: An overview of robot calibration. Inf. Technol. J. 3(1), 74–78 (2004)
Engineering, I.: Mapping and localization in 3D environments using a 2D laser scanner and a stereo camera. J. Inf. Sci. Eng. 144, 131–144 (2012)
Fan, Y., Huang, Y., Shan, J., Zhang, S., Zhu, F.: Extrinsic calibration between a camera and a 2D laser rangefinder using a photogrammetric. Sensors 19(9), 2030 (2019)
Fritsche, P., Zeise, B., Hemme, P., Wagner, B.: Fusion of radar, LiDAR and thermal information for hazard detection in low visibility environments. In: 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), pp. 96–101. IEEE (2017)
Heikkilä, T., Ahola, J.M., Koskinen, J., Seppälä, T.: Calibration procedures for object locating sensors in flexible robotized machining (2014)
Horaud, R., Dornaika, F.: Hand-Eye Calibration. Int. J. Robot. Res. 14(3), 195–210 (1995)
Kriegel, S., Kaßecker, M., Suppa, M., Brucker, M., Bodenmu, T.: Toward fully autonomous mobile manipulation for industrial environments. Int. J. Adv. Robot. Syst. 1–19, August 2017
Lasi, H., Fettke, P., Kemper, H.G., Feld, T., Hoffmann, M.: Industry 4.0. Bus. Inf. Syst. Eng. 6(4), 239–242 (2014)
Li, J.: Calibration of a portable laser 3-D scanner used by a robot and its use in measurement. Opt. Eng. 47, 1–8 (2008)
McIvor, A.M.: Calibration of a laser stripe profiler. In: Second International Conference on 3-D Digital Imaging and Modeling (Cat. No.PR00062), pp. 92–98 (1999)
Mei, C., Rives, P.: Calibration between a central catadioptric camera and a laser range finder for robotic applications. In: Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006, pp. 532–537 (2006)
Nagatani, K., Kiribayashi, S., Okada, Y., Otake, K., Yoshida, K., Tadokoro, S., Nishimura, T., Yoshida, T., Koyanagi, E.: Emergency response to the nuclear accident at the fukushima daiichi nuclear power plants using mobile rescue robots. J. Field Robot. 30(1), 44–63 (2013)
Pradeep, V., Konolige, K., Berger, E.: Calibrating a multi-arm multi-sensor robot: a bundle adjustment approach. In: International Symposium on Experimental Robotics (ISER). New Delhi, India (2010)
Röwekämper, J., Ruhnke, M., Steder, B., Burgard, W., Tipaldi, G.D.: Automatic extrinsic calibration of multiple laser range sensors with little overlap. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 2072–2077 (2015)
Tsai, R.Y., Lenz, R.K.: A new technique for fully autonomous and efficient 3D robotics hand/eye calibration. IEEE Trans. Robot. Autom. 5(3), 345–358 (1989)
Wieghardt, C.S., Wagner, B.: Self-calibration of a mobile manipulator using structured light. In: 2017 18th International Conference on Advanced Robotics (ICAR), pp. 197–203 (2017)
Zhang, Q., Pless, R.: Extrinsic calibration of a camera and laser range finder (improves camera calibration). In: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 3, pp. 2301–2306 (2004)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Alberts, J., Kleinschmidt, S.P., Wagner, B. (2021). 6-DoF Extrinsic Calibration Between a Manipulator and a 2D Laser Scanner. In: Gusikhin, O., Madani, K., Zaytoon, J. (eds) Informatics in Control, Automation and Robotics. ICINCO 2019. Lecture Notes in Electrical Engineering, vol 720. Springer, Cham. https://doi.org/10.1007/978-3-030-63193-2_4
Download citation
DOI: https://doi.org/10.1007/978-3-030-63193-2_4
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-63192-5
Online ISBN: 978-3-030-63193-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)