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Automatic and Full Calibration of Mobile Laser Scanning Systems

  • Jan ElsebergEmail author
  • Dorit Borrmann
  • Andreas Nüchter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 88)

Abstract

Mobile scanning, i.e., the practice of mounting laser scanners on moving platforms is an efficient way to acquire accurate and dense 3D point clouds of outdoor environments for urban and regional planning and architecture. The mobile scenario puts high requirements on the accuracy of the calibration of the measurement system, as small calibration inaccuracies lead to large errors in the resulting point cloud. We propose a novel algorithm for the calibration of a mobile scanning system that estimates the calibration parameters for all sensor components simultaneously without relying on additional hardware. We evaluate the calibration algorithm on several real world data sets where ground truth is available via an accurate geodetic model.

Keywords

Point Cloud Inertial Measurement Unit Calibration Parameter Mobile Platform Terrestial Laser Scanner 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer International Publishing Switzerland 2013

Authors and Affiliations

  • Jan Elseberg
    • 1
    Email author
  • Dorit Borrmann
    • 1
  • Andreas Nüchter
    • 1
  1. 1.Jacobs University Bremen gGmbHBremenGermany

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