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

: Hillemann, Markus; Meidow, Jochen; Jutzi, Boris

Fulltext urn:nbn:de:0011-n-5696718 (11 MByte PDF)
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Created on: 4.1.2020

Stilla, U. ; International Society for Photogrammetry and Remote Sensing -ISPRS-:
PIA 2019+MRSS 2019, Photogrammetric Image Analysis & Munich Remote Sensing Symposium : 18-20 September 2019, Munich, Germany
Istanbul: ISPRS, 2019 (ISPRS Archives XLII-2/W16)
Workshop "Photogrammetric Image Analysis" (PIA) <2019, Munich>
Munich Remote Sensing Symposium (MRSS) <2019, Munich>
Conference Paper, Electronic Publication
Fraunhofer IOSB ()
self calibration; mobile laser scanning; Relative Orientation; Boresight & Lever Arm

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.