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  4. Impact of different trajectories on extrinsic self-calibration for vehicle-based mobile laser scanning systems
 
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2019
Konferenzbeitrag
Titel

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

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.
Author(s)
Hillemann, Markus
Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung IOSB
Meidow, Jochen
Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung IOSB
Jutzi, Boris
Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung IOSB
Hauptwerk
PIA 2019+MRSS 2019, Photogrammetric Image Analysis & Munich Remote Sensing Symposium
Konferenz
Workshop "Photogrammetric Image Analysis" (PIA) 2019
Munich Remote Sensing Symposium (MRSS) 2019
DOI
10.5194/isprs-archives-XLII-2-W16-119-2019
File(s)
N-569671.pdf (11.94 MB)
Language
Englisch
google-scholar
IOSB
Tags
  • self calibration

  • mobile laser scanning...

  • Relative Orientation

  • Boresight & Lever Arm...

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