Hand-eye calibration between robot and 2D LiDAR using orthogonal corner feature

Table 1. Influence of sampling times on calibration accuracy
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Table 1. Influence of sampling times on calibration accuracy
$N$ ${\bar{E}}_{R}^{(10)}$ /（°） $σ_{R}^{(10)}$ /（°） ${\bar{E}}_{T}^{(10)}$ /mm $σ_{T}^{(10)}$ /mm
10 0.049 0.117 1.509 4.314
20 0.014 0.008 0.408 0.228
30 0.011 0.004 0.324 0.151
40 0.010 0.004 0.286 0.115
50 0.009 0.003 0.265 0.097

Table 2. Errors of iteration results of two methods
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Table 2. Errors of iteration results of two methods
迭代次数本文方法文献［12］方法
$n$ $E_{R}^{(n)}$ /（°） $E_{T}^{(n)}$ /mm $E_{R}^{(n)}$ /（°） $E_{T}^{(n)}$ /mm
1 000 0.008 8 0.253 0.007 1 0.180

Table 3. Distribution of the distance error between the scanned points and the plane
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Table 3. Distribution of the distance error between the scanned points and the plane
平面
序号
样本
点数
$E_{d}$ /mm $σ_{d}$ /mm $E_{| d |}$ /mm $σ_{| d |}$ /mm
1 743 -0.63 1.38 1.19 0.93
2 900 -0.52 0.64 0.66 0.50
3 690 -0.64 1.41 1.35 0.82

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Chang LIU, Yin LUO, Guangyu QU. Hand-eye calibration between robot and 2D LiDAR using orthogonal corner feature[J]. Optics and Precision Engineering, 2024, 32(22): 3336

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