Automated approach for rigorous light detection and ranging system calibration without preprocessing and strict terrain coverage requirements
Automated approach for rigorous light detection and ranging system calibration without preprocessing and strict terrain coverage requirements
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用于严格光检测和测距系统校准的自动化方法，无需预处理和严格的地形覆盖要求
DOI：
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发表时间：
2012
期刊：
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通讯作者：
J. Skaloud
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作者：
A. Kersting;A. Habib;K. Bang;J. Skaloud
光探测和测距 (LiDAR) 已证明其作为直接获取高密度和准确地形信息的重要技术的能力。为了实现此类系统的潜在准确性，应进行严格的系统校准。我们引入了一种新颖的严格激光雷达系统校准程序，其中系统参数是通过最小化重叠条带中共轭表面元素和控制数据（如果有）之间的差异来确定的。该方法是自动化的，不需要覆盖区域中的特定特征（例如平面或线）或点云的预分类。实现了不涉及数据预处理的合适原语。共轭基元之间的对应关系是使用稳健的匹配过程来确定的。引入了对高斯马尔可夫模型的修改，以在利用高阶原语的同时保持校准过程的实现简单。实验结果证明了该方法在不同类型地形覆盖上的有效性。 (C) 2012 年光电仪器工程师协会 (SPIE)。 [DOI：10.1117/1.OE.51.7.076201]
Light detection and ranging (LiDAR) has demonstrated its capabilities as a prominent technique for the direct acquisition of high density and accurate topographic information. To achieve the potential accuracy of such systems, a rigorous system calibration should be performed. We introduce a novel rigorous LiDAR system calibration procedure where the system parameters are determined by minimizing the discrepancies among conjugate surface elements in overlapping strips and control data, if available. The method is automated and does not require specific features (e.g., planes or lines) in the covered area or preclassification of the point cloud. Suitable primitives, which do not involve preprocessing of the data, are implemented. The correspondence between conjugate primitives is determined using a robust matching procedure. A modification to the Gauss Markov model is introduced to keep the implementation of the calibration procedure simple while utilizing higher order primitives. Experimental results have demonstrated the effectiveness of the proposed method over different types of terrain coverage. (C) 2012 Society of Photo-Optical Instrumentation Engineers (SPIE). [DOI: 10.1117/1.OE.51.7.076201]