Calibration of distributed laser range finders based on object tracking

Takeshi Sasaki, Hideki Hashimoto

Research output: Contribution to journalConference articlepeer-review


In this research, we address the calibration of laser range finders distributed in Intelligent Space (iSpace) which is a space with multiple embedded and networked sensors and actuators. In order to realize automated calibration, we utilize moving objects that are not limited to mobile robots in the space. Moving objects can cover wide areas of the environment so there is no need to place many landmarks in exactly known positions beforehand. The calibration is performed based on the positions of moving objects in overlapping observable areas of different sensors. The relative position and orientation of sensors are first estimated from a set of corresponding points. The global poses of the sensors are then calculated from the relative pose estimations. Experimental results show the validity of the proposed method.

Original languageEnglish
Pages (from-to)239-244
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Issue number16
Publication statusPublished - 2009
Externally publishedYes
Event9th IFAC Symposium on Robot Control, SYROCO 2009 - Gifu, Japan
Duration: 2009 Sept 92009 Sept 12


  • Calibration
  • Distributed sensors
  • Intelligent Space
  • Laser range finder
  • Object tracking

ASJC Scopus subject areas

  • Control and Systems Engineering


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