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Design and Calibration of Plane Mirror Setups for Mobile Robots with a 2D-Lidar

  • 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.

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Author:James E. Kibii, Andreas Dreher, Paul L. Wormser, Hartmut GimpelORCiDGND
Parent Title (English):Sensors
Place of publication:Basel, CH
Document Type:Article
Year of Publication:2022
Release Date:2022/11/10
Tag:Lidar; Environmental perception; Mirror; Calibration procedure; Mobile robot; Ground detection
Article Number:7830
Corresponding author: Hartmut Gimpel
Funding: The article processing charge was funded by the Open Access Publication Fund of the HTWG Hochschule Konstanz University of Applied Sciences
Institutes:Institut für Optische Systeme - IOS
Open Access?:Ja
Relevance:Peer reviewed Publikation in Master Journal List
Licence (German):License LogoCreative Commons - CC BY - Namensnennung 4.0 International