Calibration method of MMS laser scanner using hybrid regular geometric surfaces

Chen Tian'en; Wang Dong; Liu Fengying

doi:10.3788/IRLA202049.0205009

A simple and practical method for MMS laser scanner calibration with hybrid regular geometric surfaces was proposed. The method utilized the plane and cylindrical objects which were ubiquitous in the real environment, and combined the geometric characteristics of the plane and cylindrical surface to constrain the laser point in a rigorous mathematical equation, and non-linear least square solution to determine the relative position and attitude parameters of the scanner relative to the MMS positioning and attitude measuring device POS accurately. The method did not need to establish a special calibration site. The experimental results show that the hybrid regular geometric surface combined constraint calibration method is more accurate than the method using only plane objects, reaching 0.006 m. After the same vehicle platform and two different laser scanner systems are calibrated, the point cloud superposition effect is better. The method is accurate, simple, fast, inexpensive, efficient and practical. The measured accuracy meets the requirements of large-scale production.

Calibration method of MMS laser scanner using hybrid regular geometric surfaces

College of Geomatics, Shandong University of Science and Technology, Qingdao 266590, China

Received Date: 2019-03-21

Rev Recd Date: 2019-05-22

Publish Date: 2020-03-02

Key words:

Abstract: A simple and practical method for MMS laser scanner calibration with hybrid regular geometric surfaces was proposed. The method utilized the plane and cylindrical objects which were ubiquitous in the real environment, and combined the geometric characteristics of the plane and cylindrical surface to constrain the laser point in a rigorous mathematical equation, and non-linear least square solution to determine the relative position and attitude parameters of the scanner relative to the MMS positioning and attitude measuring device POS accurately. The method did not need to establish a special calibration site. The experimental results show that the hybrid regular geometric surface combined constraint calibration method is more accurate than the method using only plane objects, reaching 0.006 m. After the same vehicle platform and two different laser scanner systems are calibrated, the point cloud superposition effect is better. The method is accurate, simple, fast, inexpensive, efficient and practical. The measured accuracy meets the requirements of large-scale production.

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Reference (6)

[1]	Petrie G. An introduction to the technology mobile mapping systems[J]. Goeinformatics, 2010, 13(1):32-43.
[2]	Morgan D. Using mobile LiDAR to survey railway infrastructure. Lynx mobile mapper[C]//Proc FIG Comm, 2009, 5:32-40.
[3]	Bae K, Lichti D D. On-site self-calibration using planar targets for terrestrial laser scanners[J]. International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, 2007, 37(Part 3/W52):14-19.
[4]	So E, Basso F, Menegatti E. Calibration of a rotating 2D laser range finder using point-plane Constraints[J].Journal of Automation, Mobile Robotics & Amp;Intelligent Systems, 2013, 7(2):30-38.
[5]	HyyppäH, Kaartinen H, Jaakkola A, et al. Bench-marking the performance of mobile laser scanning systems using a permanent test field[J]. Sensors, 2012, 12(9):814-835.
[6]	Ting On Chara, Derek D Lichtia, David Belton. A rigorous cylinder-based self-calibration approach for terrestrial laser scanners[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 2015, 99:84-99.

[1]	Petrie G. An introduction to the technology mobile mapping systems[J]. Goeinformatics, 2010, 13(1):32-43.
[2]	Morgan D. Using mobile LiDAR to survey railway infrastructure. Lynx mobile mapper[C]//Proc FIG Comm, 2009, 5:32-40.
[3]	Bae K, Lichti D D. On-site self-calibration using planar targets for terrestrial laser scanners[J]. International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, 2007, 37(Part 3/W52):14-19.
[4]	So E, Basso F, Menegatti E. Calibration of a rotating 2D laser range finder using point-plane Constraints[J].Journal of Automation, Mobile Robotics & Amp;Intelligent Systems, 2013, 7(2):30-38.
[5]	HyyppäH, Kaartinen H, Jaakkola A, et al. Bench-marking the performance of mobile laser scanning systems using a permanent test field[J]. Sensors, 2012, 12(9):814-835.
[6]	Ting On Chara, Derek D Lichtia, David Belton. A rigorous cylinder-based self-calibration approach for terrestrial laser scanners[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 2015, 99:84-99.

Calibration method of MMS laser scanner using hybrid regular geometric surfaces

doi: 10.3788/IRLA202049.0205009

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