On-field mounting position estimation of a lidar sensor

Owes Khan; René Bergelt; Wolfram Hardt

doi:10.1117/12.2278396

4 October 2017 On-field mounting position estimation of a lidar sensor

Owes Khan, René Bergelt, Wolfram Hardt

Proceedings Volume 10431, Remote Sensing Technologies and Applications in Urban Environments II; 104310Q (2017) https://doi.org/10.1117/12.2278396
Event: SPIE Remote Sensing, 2017, Warsaw, Poland

Abstract

In order to retrieve a highly accurate view of their environment, autonomous cars are often equipped with LiDAR sensors. These sensors deliver a three dimensional point cloud in their own co-ordinate frame, where the origin is the sensor itself. However, the common co-ordinate system required by HAD (Highly Autonomous Driving) software systems has its origin at the center of the vehicle’s rear axle. Thus, a transformation of the acquired point clouds to car co-ordinates is necessary, and thereby the determination of the exact mounting position of the LiDAR system in car coordinates is required. Unfortunately, directly measuring this position is a time-consuming and error-prone task. Therefore, different approaches have been suggested for its estimation which mostly require an exhaustive test-setup and are again time-consuming to prepare. When preparing a high number of LiDAR mounted test vehicles for data acquisition, most approaches fall short due to time or money constraints. In this paper we propose an approach for mounting position estimation which features an easy execution and setup, thus making it feasible for on-field calibration.

Conference Presentation

Citation Download Citation

Owes Khan, René Bergelt, and Wolfram Hardt "On-field mounting position estimation of a lidar sensor", Proc. SPIE 10431, Remote Sensing Technologies and Applications in Urban Environments II, 104310Q (4 October 2017); https://doi.org/10.1117/12.2278396

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