Syed Riaz un Nabi Jafri
Characterization and calibration of multiple 2D laser scanners
Riaz un Nabi Jafri, Syed; Shamim, Sheraz; Faraz, Sadia Muniza; Ahmed, Asif; Yasir, Syed Muhammad; Iqbal, Jamshed
Authors
Sheraz Shamim
Sadia Muniza Faraz
Asif Ahmed
Syed Muhammad Yasir
Dr Jamshed Iqbal J.Iqbal@hull.ac.uk
Senior Lecturer
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.
Citation
Riaz un Nabi Jafri, S., Shamim, S., Faraz, S. M., Ahmed, A., Yasir, S. M., & Iqbal, J. (2022). Characterization and calibration of multiple 2D laser scanners. PLoS ONE, 17(7), Article e0272063. https://doi.org/10.1371/journal.pone.0272063
Journal Article Type | Article |
---|---|
Acceptance Date | Jul 15, 2022 |
Online Publication Date | Jul 28, 2022 |
Publication Date | Jul 1, 2022 |
Deposit Date | Jul 16, 2022 |
Publicly Available Date | Aug 1, 2022 |
Journal | PLoS ONE |
Print ISSN | 1932-6203 |
Electronic ISSN | 1932-6203 |
Publisher | Public Library of Science |
Peer Reviewed | Peer Reviewed |
Volume | 17 |
Issue | 7 |
Article Number | e0272063 |
DOI | https://doi.org/10.1371/journal.pone.0272063 |
Public URL | https://hull-repository.worktribe.com/output/4031649 |
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Publisher Licence URL
http://creativecommons.org/licenses/by/4.0
Copyright Statement
© 2022 Jafri et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
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