Self-Calibration Method For Multiple 2D Lidars in Human Gait Estimation System

This paper proposes a self-calibration method for multiple 2D LiDARs used in a human gait estimation system. The three LiDARs system is positioned 0.3 m above the ground to track the human leg movements. Unlike the other methods requiring additional calibration procedures or special markers, our approach utilizes only human leg scan data from the stationary periods during walking to estimate the calibration parameters. While the proposed calibration results may be less accurate compared to methods using special markers with known dimension, our method significantly simplifies the system and enhances potability.