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 language | English |
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Pages (from-to) | 119-125 |
Number of pages | 7 |
Journal | International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives |
Volume | 42 |
Issue number | 2/W16 |
DOIs | |
State | Published - 17 Sep 2019 |
Externally published | Yes |
Event | 2019 Joint ISPRS Conference on Photogrammetric Image Analysis and Munich Remote Sensing Symposium, PIA 2019+MRSS 2019 - Munich, Germany Duration: 18 Sep 2019 → 20 Sep 2019 |
Keywords
- Boresight & Lever Arm
- Mobile Laser Scanning
- Relative Orientation
- Self-Calibration