Verfahren und System zur Kalibrierung eines Netzwerks mehrerer Horizontal Abtastenden Entfernungsmessgeräte

Details

Veröffentlichungs-Nr.

EP3070495

Aktenzeichen

EP15159857

Anmeldetag

19. März 2015

Veröffentlichung

19. August 2020

Erteilung

19. August 2020

Rechtsraum

EP

IPC

G01S17/42G01S17/87G01S7/48G01S7/497

Abstract

During calibration of a network of multiple horizontally scanning range finders a measurement is performed with the range finders during movement of an object through an area covered by the network. For each of the range finders data sets are identified associated with the moving object based on a static analysis. An estimated relative transformation between respective poses of the range finders is determined for reach pair of overlapping range finders, based on the identified data sets of this pair. An initial maximum likelihood configuration of poses is determined based on the estimated relative transformations of each pair. In an iterative fashion with multiple iteration steps, sets of point correspondences of the data sets are determined based on a threshold condition. A maximum likelihood configuration of poses is determined based on the sets of point correspondences and on the maximum likelihood configuration determined in the previous iteration step or, in a first iteration step, on the initial maximum likelihood configuration.

Anmelder

Firma

Albert-Ludwigs-Universität Freiburg

Land

🇩🇪 Deutschland

Fachgebiete