The paper proposes a new calibration approach to improve the calibration for the intrinsic parameters of a multi-beam LiDAR device. The proposed approach first detects planar surfaces in the scanned site using RANSAC algorithm. Representative normal vectors of the detected planar surfaces are then used in the Levenberg-Marquardt algorithm to calibrate the device's intrinsic parameters for all 64 laser sensors. Experimental results have shown that the range data acquired using intrinsic parameters provided by the proposed approach have lower errors when compared with the data obtained using factory given parameters.
['Chia-Yen Chen', 'Hsiang-Jen Chien', 'Po-Sen Huang', 'Wen-Bin Hong', 'Chi-Fa Chen']
Intrinsic parameters calibration for multi-beam LiDAR using the Levenberg-Marquardt algorithm