{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,15]],"date-time":"2026-01-15T14:47:28Z","timestamp":1768488448414,"version":"3.49.0"},"reference-count":39,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2018,12,10]],"date-time":"2018-12-10T00:00:00Z","timestamp":1544400000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Natural Science Fund of China with project","award":["41874031"],"award-info":[{"award-number":["41874031"]}]},{"name":"Technology Innovation Program of Hubei Province with Project","award":["2018AAA070"],"award-info":[{"award-number":["2018AAA070"]}]},{"name":"Natural Science Fund of Hubei Province with Project","award":["2018CFA007"],"award-info":[{"award-number":["2018CFA007"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Laser rangefinders (LRFs) are widely used in autonomous systems for indoor positioning and mobile mapping through the simultaneous localization and mapping (SLAM) approach. The extrinsic parameters of multiple LRFs need to be determined, and they are one of the key factors impacting system performance. This study presents an extrinsic calibration method of multiple LRFs that requires neither extra calibration sensors nor special artificial reference landmarks. Instead, it uses a naturally existing cuboid-shaped corridor as the calibration reference, and it hence needs no additional cost. The present method takes advantage of two types of geometric constraints for the calibration, which can be found in a common cuboid-shaped corridor. First, the corresponding point cloud is scanned by the set of LRFs. Second, the lines that are scanned on the corridor surfaces are extracted from the point cloud. Then, the lines within the same surface and the lines within two adjacent surfaces satisfy the coplanarity constraint and the orthogonality constraint, respectively. As such, the calibration problem is converted into a nonlinear optimization problem with the constraints. Simulation experiments and experiments based on real data verified the feasibility and stability of the proposed method.<\/jats:p>","DOI":"10.3390\/s18124371","type":"journal-article","created":{"date-parts":[[2018,12,10]],"date-time":"2018-12-10T11:31:16Z","timestamp":1544441476000},"page":"4371","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Extrinsic Calibration of 2D Laser Rangefinders Using an Existing Cuboid-Shaped Corridor as the Reference"],"prefix":"10.3390","volume":"18","author":[{"given":"Deyu","family":"Yin","sequence":"first","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jingbin","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China"},{"name":"Collaborative Innovation Center of Geospatial Technology, Wuhan University, Wuhan 430079, China"},{"name":"Department of Remote Sensing and Photogrammetry, Center of Excellence in Laser Scanning Research, Finnish Geospatial Research Institute, 02430 Masala, Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Teng","family":"Wu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Keke","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juha","family":"Hyypp\u00e4","sequence":"additional","affiliation":[{"name":"Department of Remote Sensing and Photogrammetry, Center of Excellence in Laser Scanning Research, Finnish Geospatial Research Institute, 02430 Masala, Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6683-2342","authenticated-orcid":false,"given":"Ruizhi","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China"},{"name":"Collaborative Innovation Center of Geospatial Technology, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,12,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Park, C.-S., Kim, D., You, B.-J., and Oh, S.-R. 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