Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Calibrating distance sensors for terrestrial applications without groundtruth information
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0001-6868-2210
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0002-4310-7938
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0002-0079-9049
2017 (Engelska)Ingår i: IEEE Sensors Journal, ISSN 1530-437X, E-ISSN 1558-1748, Vol. 17, nr 12, s. 3698-3709, artikel-id 7911206Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

This paper describes a new calibration procedure for distance sensors that does not require independent sources of groundtruth information, i.e., that is not based on comparing the measurements from the uncalibrated sensor against measurements from a precise device assumed as the groundtruth. Alternatively, the procedure assumes that the uncalibrated distance sensor moves in space on a straight line in an environment with fixed targets, so that the intrinsic parameters of the statistical model of the sensor readings are calibrated without requiring tests in controlled environments, but rather in environments where the sensor follows linear movement and objects do not move. The proposed calibration procedure exploits an approximated expectation maximization scheme on top of two ingredients: an heteroscedastic statistical model describing the measurement process, and a simplified dynamical model describing the linear sensor movement. The procedure is designed to be capable of not just estimating the parameters of one generic distance sensor, but rather integrating the most common sensors in robotic applications, such as Lidars, odometers, and sonar rangers and learn the intrinsic parameters of all these sensors simultaneously. Tests in a controlled environment led to a reduction of the mean squared error of the measurements returned by a commercial triangulation Lidar by a factor between 3 and 6, comparable to the efficiency of other state-of-the art groundtruth-based calibration procedures. Adding odometric and ultrasonic information further improved the performance index of the overall distance estimation strategy by a factor of up to 1.2. Tests also show high robustness against violating the linear movements assumption.

Ort, förlag, år, upplaga, sidor
IEEE, 2017. Vol. 17, nr 12, s. 3698-3709, artikel-id 7911206
Nyckelord [en]
Calibration, Laser radar, Robot sensing systems, Mobile robots, Time measurement expectation maximization, distance sensors, intrinsic sensors calibration, heteroscedastic models, simultaneous sensors calibration, triangulation lidars, ultrasonic sensors, odometry
Nationell ämneskategori
Reglerteknik
Forskningsämne
Reglerteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-63189DOI: 10.1109/JSEN.2017.2697850ISI: 000402123400012Scopus ID: 2-s2.0-8502174995OAI: oai:DiVA.org:ltu-63189DiVA, id: diva2:1091864
Anmärkning

Validerad;2017;Nivå 2;2017-05-29 (rokbeg)

Tillgänglig från: 2017-04-28 Skapad: 2017-04-28 Senast uppdaterad: 2019-08-27Bibliografiskt granskad

Open Access i DiVA

fulltext(4166 kB)235 nedladdningar
Filinformation
Filnamn FULLTEXT02.pdfFilstorlek 4166 kBChecksumma SHA-512
389506165cb64965cee8fff65f89903f2615b931ea97c9353679880576d077efee30d57c0c3dd441ff3105130d4e57587163254c5934959272d1a00fc2b8cea4
Typ fulltextMimetyp application/pdf

Övriga länkar

Förlagets fulltextScopus

Personposter BETA

Alhashimi, AnasVaragnolo, DamianoGustafsson, Thomas

Sök vidare i DiVA

Av författaren/redaktören
Alhashimi, AnasVaragnolo, DamianoGustafsson, Thomas
Av organisationen
Signaler och system
I samma tidskrift
IEEE Sensors Journal
Reglerteknik

Sök vidare utanför DiVA

GoogleGoogle Scholar
Totalt: 250 nedladdningar
Antalet nedladdningar är summan av nedladdningar för alla fulltexter. Det kan inkludera t.ex tidigare versioner som nu inte längre är tillgängliga.

doi
urn-nbn

Altmetricpoäng

doi
urn-nbn
Totalt: 816 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf