Please enable JavaScript.
Coggle requires JavaScript to display documents.
Sensor Calibration in LiDAR Integration for Mobile Robots - Coggle Diagram
Sensor Calibration in LiDAR Integration for Mobile Robots
Main Idea 1: Intrinsic Calibration
Parameter Identification
Focal length, principal point
Distortion coefficients
Calibration Setup
Controlled conditions
Known positions on target
Data Collection
Scanning from various angles
Laser-beam interaction
Parameter Estimation
Zhang's method, chessboard calibration
Lens distortion correction
Parameter Refinement
Optimization process
Minimizing prediction errors
Main Idea 2: Extrinsic Calibration
Reference Frame Definition
Robot's coordinate system
Origin, axes, orientation
Calibration Setup
Controlled setup
Known feature target
Data Collection
Controlled robot movements
Data from different angles
Transformation Calculation
ICP algorithm
Translation and rotation matrix
Verification
Comparing with ground truth
Alignment of detected objects