TY  - JOUR
U1  - Zeitschriftenartikel, wissenschaftlich - begutachtet (reviewed)
A1  - Kibii, James E.
A1  - Dreher, Andreas
A1  - Wormser, Paul L.
A1  - Gimpel, Hartmut
T1  - Design and Calibration of Plane Mirror Setups for Mobile Robots with a 2D-Lidar
JF  - Sensors
N2  - Lidar sensors are widely used for environmental perception on autonomous robot vehicles (ARV). The field of view (FOV) of Lidar sensors can be reshaped by positioning plane mirrors in their vicinity. Mirror setups can especially improve the FOV for ground detection of ARVs with 2D-Lidar sensors. This paper presents an overview of several geometric designs and their strengths for certain vehicle types. Additionally, a new and easy-to-implement calibration procedure for setups of 2D-Lidar sensors with mirrors is presented to determine precise mirror orientations and positions, using a single flat calibration object with a pre-aligned simple fiducial marker. Measurement data from a prototype vehicle with a 2D-Lidar with a 2 m range using this new calibration procedure are presented. We show that the calibrated mirror orientations are accurate to less than 0.6° in this short range, which is a significant improvement over the orientation angles taken directly from the CAD. The accuracy of the point cloud data improved, and no significant decrease in distance noise was introduced. We deduced general guidelines for successful calibration setups using our method. In conclusion, a 2D-Lidar sensor and two plane mirrors calibrated with this method are a cost-effective and accurate way for robot engineers to improve the environmental perception of ARVs.
KW  - Lidar
KW  - Environmental perception
KW  - Mirror
KW  - Calibration procedure
KW  - Mobile robot
KW  - Ground detection
Y1  - 2022
UN  - https://nbn-resolving.org/urn:nbn:de:bsz:kon4-opus4-32277
SN  - 1424-8220
SS  - 1424-8220
U6  - https://doi.org/10.3390/s22207830
DO  - https://doi.org/10.3390/s22207830
N1  - Corresponding author: Hartmut Gimpel
N1  - Funding: The article processing charge was funded by the Open Access Publication Fund of the HTWG Hochschule Konstanz University of Applied Sciences
VL  - 22
IS  - 20
SP  - 21 Seiten
S1  - 21 Seiten
PB  - MDPI
CY  - Basel, CH
ER  -