Impact of different trajectories on extrinsic self-calibration for vehicle-based mobile laser scanning systems

Markus Hillemann, Jochen Meidow, Boris Jutzi

Research output: Contribution to journalConference articlepeer-review

4 Scopus citations

Abstract

The extrinsic calibration of a Mobile Laser Scanning system aims to determine the relative orientation between a laser scanner and a sensor that estimates the exterior orientation of the sensor system. The relative orientation is one component that limits the accuracy of a 3D point cloud which is captured with a Mobile Laser Scanning system. The most efficient way to determine the relative orientation of a Mobile Laser Scanning system is using a self-calibration approach as this avoids the need to perform an additional calibration beforehand. Instead, the system can be calibrated automatically during data acquisition. The entropy-based self-calibration fits into this category and is utilized in this contribution. In this contribution, we analyze the impact of four different trajectories on the result of the entropy-based self-calibration, namely (i) uni-directional, (ii) ortho-directional, (iii) bi-directional, and (iv) multi-directional trajectory. Theoretical considerations are supported by experiments performed with the publicly available MLS 1 - TUM City Campus data set. The investigations show that strong variations of the yaw angle in a confined space or bidirectional trajectories as well as the variation of the height of the laser scanner are beneficial for calibration.

Original languageEnglish
Pages (from-to)119-125
Number of pages7
JournalInternational Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
Volume42
Issue number2/W16
DOIs
StatePublished - 17 Sep 2019
Externally publishedYes
Event2019 Joint ISPRS Conference on Photogrammetric Image Analysis and Munich Remote Sensing Symposium, PIA 2019+MRSS 2019 - Munich, Germany
Duration: 18 Sep 201920 Sep 2019

Keywords

  • Boresight & Lever Arm
  • Mobile Laser Scanning
  • Relative Orientation
  • Self-Calibration

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