研究目的
To propose a method for calibrating the relative position between dual two-dimensional laser range finders to improve the accuracy of localization for mobile manipulators.
研究成果
The proposed calibration method effectively improves the accuracy of localization for mobile manipulators by optimizing the relative position between dual two-dimensional laser range finders. The method avoids the need for specific calibration patterns and has been successfully applied in practical scenarios.
研究不足
The method's accuracy can be affected by the length of the target line in the scanning field, particularly when one finder cannot scan the whole wall due to proximity. Systematic and statistical errors of the finder were considered, but the systematic error was found negligible in a 2x2 m2 area.
1：Experimental Design and Method Selection:
The method involves scanning a common internal corner with dual finders, extracting line parameters, and using a genetic algorithm for optimization.
2：Sample Selection and Data Sources:
Data were acquired from 16 experimental positions in a 2x2 m2 area, with 100 experiments at each position to account for statistical error.
3：List of Experimental Equipment and Materials:
Dual two-dimensional laser range finders were used.
4：Experimental Procedures and Operational Workflow:
The process includes scanning, data preprocessing, filtering, clustering, line segmentation, line fitting, feature point extraction, and matching.
5：Data Analysis Methods:
A cost function based on the direction vector of the line and the repeatability of the corners was established, and the genetic algorithm was used for optimization.
独家科研数据包，助您复现前沿成果，加速创新突破
获取完整内容
