Calibration and Accuracy Analysis of a Low-Cost Mapping-Grade Mobile Laser Scanning System
Calibration and Accuracy Analysis of a Low-Cost Mapping-Grade Mobile Laser Scanning System
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DOI：
10.1061/(asce)su.1943-5428.0000178
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发表时间：
2016-11-01
影响因子：
1.9
通讯作者：
Brooks, Benjamin
中科院分区：
文献类型：
--
作者：
Hauser, Darren;Glennie, Craig;Brooks, Benjamin
描述了一种新型的、低成本的、自适应的移动的激光扫描（MLS）系统的校准和精度分析，该系统使用Velodyne HDL-32 E激光扫描仪和Oxford Technical Solutions Inertial+2惯性导航系统。首先，讨论了激光扫描仪的静态校准。静态校准显示，提高整体相对精度的点云数据从扫描仪约20%以上的供应商提供的校准。然后，提出了一种平面贴片最小二乘法确定系统的直角坐标角和横臂偏移。最后，校准和boresighted MLS在背包模式下操作，以获取多个数据集，该数据集包含使用静态地面激光扫描（TLS）和高端测量级MLS获取的密集地面控制。密集地面控制被用来检查几种方法来估计背包MLS系统的总体误差。MLS数据与TLS和测量级MLS控制的详细比较表明，尽管该系统成本低，但它能够可靠地收集点云数据，三维均方根误差精度大于10厘米。(C)2016年美国土木工程师协会。
The calibration and accuracy analysis of a novel, low-cost, adaptable mobile laser scanning (MLS) system using a Velodyne HDL-32E laser scanner and an Oxford Technical Solutions Inertial+2 inertial navigation system, is described. First, a static calibration of the laser scanner is discussed. The static calibration is shown to improve the overall relative accuracy of point cloud data from the scanner by approximately 20% over the manufacturer-supplied calibration. Then, the determination of system boresight angles and lever-arm offsets using a planar patch least-squares approach is presented. Finally, the calibrated and boresighted MLS is operated in a backpack mode to acquire multiple data sets in an area that contains dense ground control acquired using static terrestrial laser scanning (TLS) and a high-end, survey-grade MLS. The dense ground control is used to examine several methods of estimating the overall errors of the backpack MLS system. Detailed comparison of the MLS data with the TLS and survey-grade MLS control shows that, despite the system's low cost, it is able to reliably collect point cloud data with greater than 10-cm three-dimensional root-mean-square error accuracy. (C) 2016 American Society of Civil Engineers.