Chang LIU, Yin LUO, Guangyu QU. Hand-eye calibration between robot and 2D LiDAR using orthogonal corner feature[J]. Optics and Precision Engineering, 2024, 32(22): 3336
- Optics and Precision Engineering
- Vol. 32, Issue 22, 3336 (2024)
Fig. 1. Illustration of three scanning lines on the orthogonal corner feature
Fig. 2. Geometric properties of the scanning lines
Fig. 3. Illustration of the principle of hand-eye calibration
Fig. 4. Geometric properties of the scanning lines on an outer orthogonal corner feature
Fig. 5. Illustration of 2D LiDAR scanning a non-orthogonal corner feature
Fig. 6. Comparison results of the calibration accuracy w.r.t. different noise level
Fig. 7. Comparison of the calibration errors of the two methods
Fig. 8. Orthogonal corner calibration device image
Fig. 9. Object image and its constructed point cloud
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Table 1. Influence of sampling times on calibration accuracy
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Table 2. Errors of iteration results of two methods
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Table 3. Distribution of the distance error between the scanned points and the plane
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