Laser-to-Vehicle Extrinsic Calibration in Low-Observability Scenarios for Subsea Mapping
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866929269831106560 |
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| author | Hitchcox, Thomas Forbes, James Richard |
| author_facet | Hitchcox, Thomas Forbes, James Richard |
| contents | Laser line scanners are increasingly being used in the subsea industry for high-resolution mapping and infrastructure inspection. However, calibrating the 3D pose of the scanner relative to the vehicle is a perennial source of confusion and frustration for industrial surveyors. This work describes three novel algorithms for laser-to-vehicle extrinsic calibration using naturally occurring features. Each algorithm makes a different assumption on the quality of the vehicle trajectory estimate, enabling good calibration results in a wide range of situations. A regularization technique is used to address low-observability scenarios frequently encountered in practice with large, rotationally stable subsea vehicles. Experimental results are provided for two field datasets, including the recently discovered wreck of the Endurance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_14993 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Laser-to-Vehicle Extrinsic Calibration in Low-Observability Scenarios for Subsea Mapping Hitchcox, Thomas Forbes, James Richard Robotics Laser line scanners are increasingly being used in the subsea industry for high-resolution mapping and infrastructure inspection. However, calibrating the 3D pose of the scanner relative to the vehicle is a perennial source of confusion and frustration for industrial surveyors. This work describes three novel algorithms for laser-to-vehicle extrinsic calibration using naturally occurring features. Each algorithm makes a different assumption on the quality of the vehicle trajectory estimate, enabling good calibration results in a wide range of situations. A regularization technique is used to address low-observability scenarios frequently encountered in practice with large, rotationally stable subsea vehicles. Experimental results are provided for two field datasets, including the recently discovered wreck of the Endurance. |
| title | Laser-to-Vehicle Extrinsic Calibration in Low-Observability Scenarios for Subsea Mapping |
| topic | Robotics |
| url | https://arxiv.org/abs/2402.14993 |