Extrinsic Calibration for Vehicle-based Mobile Mapping System

doi:10.11947/j.AGCS.2015.20130203

Abstract

Abstract: Having the advantage of 360° imaging and rotation invariance, panoramic camera has gradually been used in mobile mapping systems(MMS). Calibration is an essential requirement to make sure that MMS can get high quality geo-information. This paper presents a way to address the extrinsic calibration for vehicle-based MMS composed of panoramic camera and Position and Orientation System (POS). Firstly, control points in the natural scene are set up, whose spatial coordinates are measured with high precision. Secondly, a panoramic spherical model is constructed and panoramic image can be projected to this model by means of spherical reverse transformation projection. Then, localize and select the control points in 3D spherical panoramic view but not in panoramic distorted image directly, the spherical coordinates of control points in panoramic image are gotten. After points correspondence is established, make use of direct geo-reference positioning equation and coordinate transformation, the translation and rotation parameters of panoramic camera relative to POS are computed. Experiments are conducted separately in space city calibration site located in Beijing and the Binhai New Area in Tianjin using our approach. Test results are listed as follows. When the GPS signal are of good quality, absolute positioning mean square error of a point is 10.3 cm in two-dimension plane and 16.5 cm in height direction; Otherwise, it is 35.4 cm in two-dimension plane and 54.8 cm in height direction. The max relative error of distance measurement is about 5 cm over a short distance (distance<3 km), which is not obviously affected by the GPS signal quality.

Key words: panoramic camera, mobile mapping system, extrinsic calibration, POS, panoramic spherical model, coordinate transformation

CLC Number:

P237

SHI Limei, ZHAO Hongrui, LI Minghai, FU Gang, LI Cong. Extrinsic Calibration for Vehicle-based Mobile Mapping System[J]. Acta Geodaetica et Cartographica Sinica, 2015, 44(1): 52-58.

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