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Calibration of Laser Range Finders for mobile robot localization in ITER

机译：用于在ITER中进行移动机器人定位的激光测距仪的校准

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Remote maintenance operations in the experimental fusion reactor ITER may require vehicle localization, for which one of the proposed methods is based on a network of Laser Range Finder sensor measurements. This localization method requires an accurate knowledge of each sensor pose (position and orientation). A deviation in sensor pose can compromise localization accuracy thereby recalibration procedure for the sensor poses is often necessary. This paper studies several calibration algorithms based on ICP. Simulation and experimental tests were carried out for different maps and situations regarding sensor pose uncertainty. The conclusion proposes the best suited algorithms for each scenario.
机译：实验聚变反应堆ITER中的远程维护操作可能需要对车辆进行定位，为此，建议的方法之一是基于Laser Range Finder传感器测量网络。这种定位方法需要每个传感器姿势（位置和方向）的准确知识。传感器姿态的偏差可能会损害定位精度，因此通常需要对传感器姿态进行重新校准过程。本文研究了几种基于ICP的校准算法。针对传感器姿态不确定性的不同地图和情况进行了仿真和实验测试。结论为每种情况提出了最合适的算法。

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