• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.6_2
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• pp.593-605
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• 2012

LiDAR systems provide dense and accurate topographic information. A pre-requisite to achieving the potential accuracy of LiDAR is having a proper system calibration, which aims at estimating all the systematic errors in the system measurements and the mounting parameters relating the different components. This paper presents a rigorous and two approximate methods for LiDAR system calibration. The rigorous approach makes use of the LiDAR equation and the system raw measurements. The approximate approaches utilize simplified LiDAR equations using some assumptions, which allow for less strict requirements regarding the raw measurements. The first presented approximate method, denoted as quasi-rigorous, assumes that we are dealing with a vertical platform (i.e., small pitch and roll angles). This method requires time-tagged point cloud and trajectory position data. The second approximate method, denoted as simplified, assumes that we are dealing with parallel strips, vertical platform, and minor terrain elevation variations compared to the flying height above ground. Such method can be performed using the LiDAR point cloud only. Experimental results using a real dataset, whose characteristics deviate to some extent from the utilized assumptions in the approximate methods, are presented to provide a comparative analysis of the outcome from the introduced methods.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.11
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• pp.2237-2244
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• 2002

This research develops a low-cost and high accuracy kinematic calibration method based on the following principles: 1) the platform locations are accurately measured by a constrained movement to inspect a calibration target; 2) the constrained movement is chosen to guarantee the parameter observability; 3) the mechanical fixture to constrain the movement and the sensor to check the constrained movement are implemented by low-cost and high-accuracy devices; 4) the calibration is easily done at an industrial environment. The kinematic parameters calibrated with respect to a single plane aren't influenced due to the misalignment of the plane. A parameter observability is successfully obtained even through one planar constraint, which guarantees that all kinematic parameters are estimated by minimizing the cost function.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.2
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• pp.168-172
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• 2001

The accuracy problem of robot manipulators has long been one of the principal concerns in robot design and control. A practical and economical way of enhancing the manipulator accuracy, without affecting its hardware, is kinematic calibration. In this paper an effective and practical method is presented for kinematic calibration of Stewart platforms. In our method differential errors in kinematical parameters are linearly related to differential errors in the platform pose, expressed through the forward kinematics. The algorithm is tested using simulated measurement in which measurement noise is included.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1615-1620
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise. Intrinsic inaccuracies of the device can significantly deteriorate the calibration results. A measurement procedure is proposed and formulations of cost functions are discussed to prevent propagation of the inaccuracies to the calibration results.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.350-356
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• 2020

Workers have been replaced by mobile manipulators for factory automation in recent years. One of the typical tasks for automation is that a mobile manipulator moves to a target location and picks and places an object on the worktable. However, due to the pose estimation error of the mobile platform, the robot cannot reach the exact target position, which prevents the manipulator from being able to accurately pick and place the object on the worktable. In this study, we developed an automatic alignment system using a low-cost camera mounted on the end-effector of a collaborative robot. Camera calibration and pose estimation methods were also proposed for the automatic alignment system. This algorithm uses a markerboard composed of markers to calibrate the camera and then precisely estimate the camera pose. Experimental results demonstrate that the mobile manipulator can perform successful pick and place tasks on various conditions.

• Proceedings of the KSME Conference
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• 2001.11a
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• pp.521-526
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• 2001

This research develops a low-cost and high accurate kinematic calibration method for a parallel typed machining center tool. A planar table is used for a mechanical fixture restricting the platform to place at the constrained pose and a low-cost and high accurate digital indicator is employed for a device checking if the constrained movement is satisfied within the established range. The kinematic parameters calibrated with respect to a single plane aren't influenced from the misalignment of the plane. A parameter observability is successfully obtained even through one planar constraint, which guarantees that the kinematic parameters is estimated by minimizing the cost function.

• Journal of the Optical Society of Korea
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• v.19 no.4
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• pp.415-420
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• 2015

A novel method to measure the scale factor for the all-optical atomic spin inertial measurement device (ASIMD) is demonstrated in this paper. The method can realize the calibration of the scale factor by a self-consistent method with small errors in the quiescent state. At first, the matured IMU (inertial measurement unit) device was fixed on an optical platform together with the ASIMD, and it has been used to calibrate the scale factor for the ASIMD. The results show that there were some errors causing the inaccuracy of the experiment. By the comparative analysis of theory and experiment, the ASIMD was unable to keep pace with the IMU. Considering the characteristics of the ASIMD, the mismatch between the driven frequency of the optical platform and the bandwidth of the ASIMD was the major reason. An all-optical atomic spin magnetometer was set up at first. The sensitivity of the magnetometer is ultra-high, and it can be used to detect the magnetization of spin-polarized noble gas. The gyromagnetic ratio of the noble gas is a physical constant, and it has already been measured accurately. So a novel calibration method for scale factor based on the gyromagnetic ratio has been presented. The relevant theoretical analysis and experiments have been implemented. The results showed that the scale factor of the device was $7.272V/^{\circ}/s$ by multi-group experiments with the maximum error value 0.49%.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.28 no.3
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• pp.369-375
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• 2010

Since multi-view images can be utilized for 3D visualization and surveying as well, a system calibration is an essential procedure. The cameras in the system are mounted to the holder and their locations and attitudes are relatively fixed. Therefore, the locations and the attitudes of the perspective centers of the four oblique looking cameras can be calculated using the location and attitude of the nadir looking camera and the boresight values between the cameras. In this regard, this research is focusing on the analysis of the relative location and attitude between the nadir and oblique looking cameras based on the results of the exterior orientation parameters after the aerial triangulation of the real multiview images. We acquired high standard deviations of the relative locations between the nadir and oblique cameras. Standard deviations of the relative attitudes between the cameras were low when only the exterior orientations of the oblique looking cameras were allowed to be adjusted. Moreover, low standard deviations of the relative attitudes came when we considered not all the exterior orientations of the cameras but the attitudes of them only.

• Journal of the Korea Convergence Society
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• v.7 no.1
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• pp.25-30
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• 2016

Virtual reality items are increased take-all type of markets like Universal, such as the United States as a leader in the virtual reality technology. Multi-user have to get direct experiences with the whole body like visual, tactile, hearing, sense of movement, and it must be developed new forms of content platform to enjoy immerse deeply into the content. Visitors are not to enjoy the content passively but rather to enjoy the content actively. So it like that should develope content to maximize the immersion. It need the development of new forms of mixed 5D virtual reality Attraction content with all of factors like $360^{\circ}$ circle vision, stereoscopic images, interaction, simulator, and the environmental effect. We proposes how to make the color and brightness calibration technology for this purpose.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1494-1499
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can be used to identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise.