Calibration Method for Multibeam LiDAR and External Rotating Axis

Table 1. Circular hole X-coordinate index table
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Table 1. Circular hole X-coordinate index table
Column Diameter X-coordinate
1 d₁ x₁
2 d₂ x₂
3 d₃ x₃
4 d₄ x₄
5 d₅ x₅

Table 2. Pose estimation results

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Table 2. Pose estimation results

Correspondence	Transformation matrix
$K_{W A}$	$[\begin{matrix} - 0.002591 & 0.709983 & 0.704218 & 0.690340 \\ 0.222191 & - 0.686201 & 0.692645 & 0.116529 \\ 0.974999 & 0.158268 & - 0.155978 & 0.497944 \\ 0 & 0 & 0 & 1 \end{matrix}]$
$K_{L W, 1}^{}$	$[\begin{matrix} 0.002481 & 0.964972 & - 0.262435 & 0.459181 \\ 0.710879 & 0.182843 & 0.679223 & 0.634213 \\ 0.703391 & - 0.188162 & - 0.685439 & 0.322001 \\ 0 & 0 & 0 & 1 \end{matrix}]$
$K_{L A}$	$[\begin{matrix} 0.999976 & - 0.005199 & 0.000215 & - 0.014488 \\ 0 & - 0.041379 & - 0.999140 & 0.006390 \\ 0.005203 & 0.999132 & - 0.041378 & 0 \\ 0 & 0 & 0 & 1 \end{matrix}]$

Table 3. Parameter optimization outcomes
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Table 3. Parameter optimization outcomes
Parameter Initial Optimized
Pitch /（°） 92.3715 90.5661
Roll /（°） -0.2981 -0.1294
Yaw /（°） 0 0
X /m -0.014488 -0.019900
Y /m 0.006390 0.013253
Z /m 0 0

Table 4. Comparison of plane point cloud thickness
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Table 4. Comparison of plane point cloud thickness
Calibration method Average thickness /m Standard deviation of thickness /m
Alismail 0.0315 0.0027
Proposed method 0.0119 0.0013

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Hailong Qu, Shiqiang Wang, Zhaozong Meng, Nan Gao, Zonghua Zhang. Calibration Method for Multibeam LiDAR and External Rotating Axis[J]. Laser & Optoelectronics Progress, 2025, 62(10): 1015008

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