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Authors: Tiago Sousa ; Alberto Vale and Rodrigo Ventura

Affiliation: Instituto Superior Técnico and Universidade de Lisboa, Portugal

Keyword(s): Laser Range Finder, Calibration, Localization, ICP.

Related Ontology Subjects/Areas/Topics: Environmental Monitoring and Control ; Industrial Automation and Robotics ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Vehicle Control Applications

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.

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Paper citation in several formats:
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; ISSN 2184-2809, SciTePress, pages 541-549. DOI: 10.5220/0005536505410549

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Sousa, T.
AU - Vale, A.
AU - Ventura, R.
PY - 2015
SP - 541
EP - 549
DO - 10.5220/0005536505410549
PB - SciTePress

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