Terrestrial Laser Scanner Autonomous Self-Calibration With No Prior Knowledge of Point-Clouds

Li, Xiaolu; Li, Yunye; Xie, Xinhao; Xu, Lijun

doi:10.1109/jsen.2018.2869559

Cited by 17 publications

(8 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…We derived the final calibration field design using the simulation-based trial and error analysis, where we aimed to fulfil all the optimization goals presented in Equations (12)- (14) and Equation (16). Additionally, we had the constraint that the calibration field needed to be implemented in the large machine hall we dedicated for future calibration experiments ( Figure 1).…”

Section: Simulation Experiments-designing the Calibration Fieldmentioning

confidence: 99%

“…To that end, multiple self-calibration approaches have been developed, assuring up-to-date calibration parameters (CPs) and successfully reducing the measurement uncertainty without requiring instruments of higher accuracy [3]. These approaches rely on different objects as calibration references, such as planes [4,5], cylinders [6], paraboloids [7], signalized target points [8][9][10][11][12][13][14], or automatically detected salient points [15,16], which are found or deliberately placed in the surroundings.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Designing and Evaluating a User-Oriented Calibration Field for the Target-Based Self-Calibration of Panoramic Terrestrial Laser Scanners

2019

View full text Add to dashboard Cite

Calibration of terrestrial laser scanners (TLSs) is one of the fundamental tasks for assuring the high measurement accuracy required by an increasing number of end-users. Nevertheless, the development of user-oriented calibration approaches is still an active topic of research. The calibration fields for the target-based self-calibration of TLSs described in the literature are based on the quasi-random distribution of a high number of targets, and they rely on heavy redundancy. This redundancy assures highly accurate calibration results, however, with the price of reduced efficiency. In contrast, this work follows the design, implementation, and validation of a user-oriented, cost-efficient calibration field intended for TLS calibration prior to measurement campaigns. Multiple goals and constraints are placed upon the design of the calibration field, such as comprehensive calibration for high-end panoramic TLSs considering all relevant mechanical misalignments, delivering stable and reusable calibration parameters, increasing calibration efficiency by minimizing calibration-field assembly, measurement acquisition and processing time through reducing the number of targets and scanner stations, as well as estimating calibration parameters with predefined quality criteria. The calibration field design was derived through a series of simulation experiments and it was compared with the current state of the art. The simulations indicate comparable calibration results, with eight times smaller number of targets (14 instead of 120). The implemented calibration field was tested on a range of instruments, successfully improving the measurement quality, both in situ and in the subsequent applications.

show abstract

Section: Simulation Experiments-designing the Calibration Fieldmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Designing and Evaluating a User-Oriented Calibration Field for the Target-Based Self-Calibration of Panoramic Terrestrial Laser Scanners

2019

View full text Add to dashboard Cite

show abstract

“…Physical models model the errors of LiDAR based on physical parameters, such as ranging, angle measurement, and quadrature errors, while empirical models are based on empirical parameters [ 14 , 15 , 16 , 17 ]. To reduce the correlation among model parameters, these parameters can be treated as observations with prior information [ 18 , 19 , 20 ], or the strongly correlated parameters are grouped and calibrated step by step [ 21 , 22 ].…”

Section: Introductionmentioning

confidence: 99%

Fast Positioning Model and Systematic Error Calibration of Chang’E-3 Obstacle Avoidance Lidar for Soft Landing

Wang¹,

Chen

et al. 2022

Sensors

View full text Add to dashboard Cite

Chang‘E-3 is China’s first soft landing mission on an extraterrestrial celestial body. The laser Three-Dimensional Imaging (TDI) sensor is one of the key payloads of the Chang‘E-3 lander. Its main task is to provide accurate 3D lunar surface information of the target landing area in real time for the selection of safe landing sites. Here, a simplified positioning model was constructed, to meet the accuracy and processing timeline requirements of the TDI sensor of Chang‘E-3. By analyzing the influence of TDI intrinsic parameters, a permanent outdoor calibration field based on flat plates was specially designed and constructed, and a robust solution of the geometric calibration adjustment was realized by introducing virtual observation equations for unknowns. The geometric calibration and its absolute and relative positioning accuracy verification were carried out using multi-measurement and multi-angle imaging data. The results show that the error of TDI intrinsic parameters will produce a false obstacle with a maximum height of about 1.4 m on the plane, which will cause the obstacle avoidance system of Chang‘E-3 to fail to find a suitable landing area or find a false flat area. Furthermore, the intrinsic parameters of the TDI have good stability and the accuracy of the reconstructed three-dimensional surface can reach about 4 cm after error calibration, which provides a reliable terrain guarantee for the autonomous obstacle avoidance of the Chang‘E-3 lander.

show abstract

“…The coefficients of the systematic error models, denoted herein as additional parameters (APs), can be estimated using special-purpose, self-calibration methods. A number of research teams have developed and successfully demonstrated TLS models and self-calibration methods (García-San-Miguel and Lerma, 2013;Li et al, 2018;Lichti, 2007;Medić et al, 2017;Muralikrishnan et al, 2015;Reshetyuk, 2010). High-contrast, signalized targets are commonly used as the primitives for the self-calibration.…”

Section: Introductionmentioning

confidence: 99%

New method for first-order network design applied to TLS self-calibration networks

Lichti

Pexman

Tredoux

2021

ISPRS Journal of Photogrammetry and Remote Sensing

View full text Add to dashboard Cite

Terrestrial Laser Scanner Autonomous Self-Calibration With No Prior Knowledge of Point-Clouds

Cited by 17 publications

References 23 publications

Designing and Evaluating a User-Oriented Calibration Field for the Target-Based Self-Calibration of Panoramic Terrestrial Laser Scanners

Designing and Evaluating a User-Oriented Calibration Field for the Target-Based Self-Calibration of Panoramic Terrestrial Laser Scanners

Fast Positioning Model and Systematic Error Calibration of Chang’E-3 Obstacle Avoidance Lidar for Soft Landing

New method for first-order network design applied to TLS self-calibration networks

Contact Info

Product

Resources

About