Calibration of Infra-red Range Finder PBS-03JN Using Piecewise Linear Function Based on 2-D Grid Error 2차원 격자 오차 데이터 기반의 선형 보정 함수들을 이용한 적외선 레인지 파인더 PBS-03JN의 보정

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An efficient calibration algorithm for mobile robot localization using infrared range finder is proposed. A calibration is important to guarantee the performance of other algorithms which use sensor data because it is pre-process. We experimentally found that the infrared range finder PBS-03JN has error characteristics depending on both distance and scan angle. After obtaining 2-D grid error characteristic data on distance and scan angle, we proposed a simple and efficient calibration algorithm with a 2-D piecewise linear function set. The performance of our proposed calibration algorithm is verified by experiments and simulation.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2011-09
Language
Korean
Citation

Journal of Institute of Control, Robotics and Systems, v.17, no.9, pp.922 - 931

ISSN
1976-5622
DOI
10.5302/J.ICROS.2011.17.9.922
URI
http://hdl.handle.net/10203/104017
Appears in Collection
EE-Journal Papers(저널논문)
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