Calibration of Laser Range Finders for Mobile Robot Localization in ITER

Tiago Sousa, Alberto Vale, Rodrigo Ventura

Abstract

Remote maintenance operations in the experimental fusion reactor ITER may require vehicle localization, for which one of the proposed methods is based on a network of Laser Range Finder sensor measurements. This localization method requires an accurate knowledge of each sensor pose (position and orientation). A deviation in sensor pose can compromise localization accuracy thereby recalibration procedure for the sensor poses is often necessary. This paper studies several calibration algorithms based on ICP. Simulation and experimental tests were carried out for different maps and situations regarding sensor pose uncertainty. The conclusion proposes the best suited algorithms for each scenario.

References

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Paper Citation


in Harvard Style

Sousa T., Vale A. and Ventura R. (2015). Calibration of Laser Range Finders for Mobile Robot Localization in ITER . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-122-9, pages 541-549. DOI: 10.5220/0005536505410549


in Bibtex Style

@conference{icinco15,
author={Tiago Sousa and Alberto Vale and Rodrigo Ventura},
title={Calibration of Laser Range Finders for Mobile Robot Localization in ITER},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2015},
pages={541-549},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005536505410549},
isbn={978-989-758-122-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Calibration of Laser Range Finders for Mobile Robot Localization in ITER
SN - 978-989-758-122-9
AU - Sousa T.
AU - Vale A.
AU - Ventura R.
PY - 2015
SP - 541
EP - 549
DO - 10.5220/0005536505410549