par Xu, Heping;Chi, XIAOCHEN 
Référence Proceedings - IEEE International Conference on Robotics and Automation, 3, page (669-670)
Publication Publié, 1993
Référence Proceedings - IEEE International Conference on Robotics and Automation, 3, page (669-670)
Publication Publié, 1993
Article révisé par les pairs
| Résumé : | This paper reports the work on calibration of our laser scanning sensor. This type of sensor has been widely used for mobile robot localisation for it is simple, economical and accurate. But the mechanical inaccuracy of the sensor construction may lead to an important systematic error. The calibration is necessary to identify and correct this error, and to reach the expected accuracy. The sensor calibration includes fours steps: modelling, measurement, identification and correction. In this paper we present the error analysis and the building of the error model, and describe the measuring and data gathering process. We propose the method of simulated annealing for parameter identification and show its performance. Finally we correct the sensor reading by the identified error model. |
