2024
On the 3D trochoidal motion model of LiDAR sensors placed off-centered inside spherical mobile mapping systems
IROS 2024poster
We study the motion model of a sensor rigidly mounted inside a ball. Due to the rigid placement inside the ball, the geometry of the sensor trajectory resembles a 3D curate trochoid. A new calibration method for spherical systems estimates the extrinsic parameters of the sensor with respect to the b…