Calibration of a 2D Laser Scanner System and Rotating Platform using a Point-Plane Constraint

Laksono Kurnianggoro1, Van-Dung Hoang1 and Kang-Hyun Jo1

  1. Graduate School of Electrical Engineering
    University of Ulsan, Korea
    {laksono, hvdung},


The purpose of this study was to produce a low cost 3D scanner system using a rotating 2D laser scanner. There are two key parameters of this system, the rotation axis and the rotation radius. These two parameters were extracted through a calibration procedure. The calibration requires a planar checkerboard calibration pattern. Several poses were scanned to obtain the observation data. The rotation axis and the rotation radius were extracted by solving a linear equation constructed from a point-plane constraint, where all points lie on a plane and have a zero dot product to the surface normal to the plane. This method was tested on a simulation environment by generating synthetic data of the scanned calibration pattern. A comprehensive analysis was carried out to evaluate the performance of the proposed method. From the simulation results, it was demonstrated that this method achieved highly accurate results with an orientation error of 0.018 degree and a radius error of 0.2 cm.

Key words

calibration, laser range finder, 3D scanner

Digital Object Identifier (DOI)

Publication information

Volume 12, Issue 1 (January 2015)
Year of Publication: 2015
ISSN: 1820-0214 (Print) 2406-1018 (Online)
Publisher: ComSIS Consortium

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How to cite

Kurnianggoro, L., Hoang, V., Jo, K.: Calibration of a 2D Laser Scanner System and Rotating Platform using a Point-Plane Constraint. Computer Science and Information Systems, Vol. 12, No. 1, 307–322. (2015),