Sistema de Calibragem de sensores laser do tipo LIDAR

Abstract

This work presents the development of a LIDAR laser sensor calibration system. Calibration of LIDAR sensors is a important aspect of the data processing stage in robotic systems of localization and navigation because it asserts the reliability of each measurement regarding the sensor referential. In the development of the text, it is presented the employed techniques for map creation and sensor virtualization. Environment and sensor simulation techniques are explored troughout the work, as well as the developed calibration algorithms. The system designed is capable of distinguish perturbations of sensor position from uncertainties of the measurement. The actuation process of the system is given in terms of the update of the knowledge of the sensor position after a perturbation.