IDEAS home Printed from https://ideas.repec.org/a/plo/pone00/0272063.html
   My bibliography  Save this article

Characterization and calibration of multiple 2D laser scanners

Author

Listed:
  • Syed Riaz un Nabi Jafri
  • Sheraz Shamim
  • Sadia Muniza Faraz
  • Asif Ahmed
  • Syed Muhammad Yasir
  • Jamshed Iqbal

Abstract

This paper presents the comparative evaluation of multiple compact and lightweight 2D laser scanners for their possible backpack based scanning and mapping applications. These scanners include Hokuyo URG-04LX, Slamtec RPLidar A1-M8 and Hokuyo UTM-30LX-EW scanners. Since the technical datasheets provide general information and limited working details, this research presents a thorough study on the performance of each scanner related explicitly to indoor mapping operations. A series of scanning experiments have been performed for the characterization of each scanner using statistical analysis. During the testing, all the scanning data has been recorded using Robot Operating System (ROS) and then computed in offline processing. In initial tests, each scanner’s drift effect on range measurements has been tested and presented in the relevant section of the paper. In continuation, the effect of various scanning distances on measurement accuracy has been evaluated and discussed. Later the impact of various materials typically found in indoor vicinities and their respective properties of color and smoothness have been tested and provided in the paper. Finally, a Kalman Filtering based mathematical formulation has been utilized to calibrate each scanner and to reduce the measuring uncertainties as observed in various tests for each scanner.

Suggested Citation

  • Syed Riaz un Nabi Jafri & Sheraz Shamim & Sadia Muniza Faraz & Asif Ahmed & Syed Muhammad Yasir & Jamshed Iqbal, 2022. "Characterization and calibration of multiple 2D laser scanners," PLOS ONE, Public Library of Science, vol. 17(7), pages 1-28, July.
    • Handle: RePEc:plo:pone00:0272063
    DOI: 10.1371/journal.pone.0272063
    as

    Download full text from publisher

    File URL: https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0272063
    Download Restriction: no
    File URL: https://journals.plos.org/plosone/article/file?id=10.1371/journal.pone.0272063&type=printable
    Download Restriction: no
    File URL: https://libkey.io/10.1371/journal.pone.0272063?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Ikenna Enebuse & Babul K S M Kader Ibrahim & Mathias Foo & Ranveer S Matharu & Hafiz Ahmed, 2022. "Accuracy evaluation of hand-eye calibration techniques for vision-guided robots," PLOS ONE, Public Library of Science, vol. 17(10), pages 1-26, October.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:plo:pone00:0272063. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: plosone (email available below). General contact details of provider: https://journals.plos.org/plosone/ .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.