Rigorous Strip Adjustment of UAV-based Laserscanning Data Including Time-Dependent Correction of Trajectory Errors
Rigorous Strip Adjustment of UAV-based Laserscanning Data Including Time-Dependent Correction of Trajectory Errors
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DOI：
10.14358/pers.82.12.945
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发表时间：
2016-12-01
影响因子：
1.3
通讯作者：
Mandlburger, Gottfried
中科院分区：
文献类型：
--
作者：
Glira, Philipp;Pfeifer, Norbert;Mandlburger, Gottfried
安装在无人机上的新一代激光扫描仪有可能提供相对较小区域(几公顷)的高质量点云。无人机的高机动性、激光扫描仪的典型大视场和相对较小的测量范围导致点云具有非常高的点密度、较少的遮挡和较低的测量噪声。然而，由于无人机的有效载荷有限，使用具有中等精度的轻型导航传感器来估计平台的轨迹。因此，点云的地理参考质量通常不是最优的；为此，可以执行条带调整。条带平差的主要目标是同时优化条带采集点云的相对方向和绝对方向。这是通过完全重新校准激光扫描系统和修正弹道的系统测量误差来实现的。在本文中，我们通过估计随时间变化的轨迹误差来扩展我们以前在条带调整方面的工作。因此，误差由在时间域中具有恒定分段长度的自然三次样条线来建模。第一个结果证实了这种灵活的校正模型的适用性，将相对和绝对条带误差分别减小到1.38 cm和1.65 cm。
A new generation of laser scanners mounted on Unmanned Aerial Vehicles (UAVs) have the potential to provide highquality point clouds of comparatively small areas (a few hectares). The high maneuverability of the UAVs, a typically large field of view of the laser scanners, and a comparatively small measurement range lead to point clouds with very high point density, less occlusions, and low measurement noise. However, due to the limited payload of UAVs, lightweight navigation sensors with a moderate level of accuracy are used to estimate the platform's trajectory. As a consequence, the georeferencing quality of the point clouds is usually sub-optimal; for this, strip adjustment can be performed. The main goal of strip adjustment is to simultaneously optimize the relative and absolute orientation of the strip-wise collected point clouds. This is done by fully re-calibrating the laser scanning system and by correcting systematic measurement errors of the trajectory. In this paper, we extend our previous work on the topic of strip adjustment by the estimation of time-dependent trajectory errors. The errors are thereby modelled by natural cubic splines with constant segment length in time domain. First results confirm the suitability of this flexible correction model by reducing the relative and absolute strip discrepancies to 1.38 cm and 1.65 cm, respectively.