Calibration of Mounted Parameter for Ship-borne 3D Laser Scanning System

doi:10.11947/j.AGCS.2018.20170505

Abstract

Abstract: Ship-borne 3D laser scanning technology has vital theoretical significance and practical value in marine surveying and mapping.As one of the key steps of ship-borne 3D laser scanning, calibration of mounted parameter is urgent to be solved.This paper proposes a calibration method of mounted parameter without control points for ship-borne 3D laser scanning system.Based on the corresponding points in overlapping area, mounted parameter calibration model of scan system is built by time and spatia registration model of ship-borne 3D laser scanning data.Finally, differential least squares are applied to obtain optimum mounted parameters.Experiments demonstrate the reasonable and effectiveness of this method,the quality of scanning data can be significantly improved.

Key words: ship-borne 3D laser scanning, mounted parameter calibration, time and spatial registration, corresponding points, difference least square

CLC Number:

P237

XU Wenxue, TIAN Ziwen, ZHOU Zhimin, ZANG Yufu, GUO Kai, LIU Yanxiong. Calibration of Mounted Parameter for Ship-borne 3D Laser Scanning System[J]. Acta Geodaetica et Cartographica Sinica, 2018, 47(2): 208-214.

References

[1] YANG Bisheng, ZANG Yufu, DONG Zhen, et al. An Automated Method to Register Airborne and Terrestrial Laser Scanning Point Clouds[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 2015, 109:62-76.
[2] SCHWARZ K P, EL-SHEIMY N. Digital Mobile Mapping Systems-state of the Art and Future Trends[M]//TAO C V, LI J. Advances in Mobile Mapping Technology. London:Taylor & Francis, 2007:3-18.
[3] 徐进军, 余明辉, 郑炎兵. 地面三维激光扫描仪应用综述[J]. 工程勘察, 2008(12):31-34. XU Jinjun, YU Minghui, ZHENG Yanbing. Briefing on Terrestrial 3D Laser Scanner[J]. Geotechnical Investigation & Surveying, 2008(12):31-34.
[4] 张亮. 地面复杂环境下移动三维测量精度改善方法研究[D]. 武汉:武汉大学, 2015. ZHANG Liang. Accuracy Improvement for Mobile Mapping in Complex Ground Environments[D]. Wuhan:Wuhan University, 2015.
[5] LE SCOUARNEC R, TOUZÉ T, LACAMBRE J B, et al. A New Reliable Boresight Calibration Method for Mobile Laser Scanning Applications[C]//ISPRS-International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-3/W1. Castelldefels:European Calibration and Orientation Workshop, 2014:67-72.
[6] 李杰, 唐秋华, 丁继胜, 等. 船载激光扫描系统在海岛测绘中的应用[J]. 海洋湖沼通报, 2015(3):108-112. LI Jie, TANG Qiuhua, DING Jisheng, et al. Application of Shipborne Laser Scanning System in Island Surveying[J]. Transactions of Oceanology and Limnology, 2015(3):108-112.
[7] 时振伟. 船载激光扫描系统的几个关键问题分析[D]. 青岛:山东科技大学, 2014. SHI Zhenwei. Analysis of Several Key Problems of Ship-borne Laser Scanning System[D]. Qingdao:Shandong University of Science and Technology, 2014.
[8] HABIB A, BANG K I, KERSTING A P, et al. Error Budget of LiDAR Systems and Quality Control of the Derived Data[J]. Photogrammetric Engineering & Remote Sensing, 2009, 75(9):1093-1108.
[9] FRANCE J I, BUTLER W. Mobile System Angular Alignment Quality Analysis[C]//Proceedings of ASPRS 2012 Annual Conference. Sacramento, California:ASPRS, 2012.
[10] MEZIAN M, VALLET B, SOHEILIAN B, et al. Uncertainty Propagation for Terrestrial Mobile Laser Scanner[C]//Proceedings of ISPRS International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLI-B3. Prague:ISPRS, 2016:331-335.
[11] 彭彤. 基于船载移动激光扫描的滩涂崩岸测量系统关键技术研究[D]. 抚州:东华理工大学, 2016. PENG Tong. Research on the Key Technology of Beach Collapse Measurement System of Shipborne Mobile Based on Laser Scanning[D]. Fuzhou:East China University of Technology, 2016.
[12] CHEOK G S. Proceedings of the LADAR Calibration Facility Workshop[M]. Gaithersburg:NIST, 2003.
[13] SCHULZ T, INGENSAND H. Terrestrial Laser Scanning-Investigations and Applications for High Precision Scanning[C]//Proceedings of the FIG Working Week:The Olympic Spirit in Surveying. Athens, Greece:[s.n.], 2004.
[14] LICHTI D D, FRANKE J. Self-calibration of the iQsun 880 Laser Scanner[R]. Optical 3-D Measurement Techniques VⅡ. Vienna:[s.n.], 2005:112-121.
[15] BARBER D, MILLS J, SMITH-VOYSEY S. Geometric Validation of a Ground-Based Mobile Laser Scanning System[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 2008, 63(1):128-141.
[16] 许晓东, 张小红, 程世来. 机载激光扫描测高系统的安置角误差检校[J]. 黑龙江科技信息, 2010(1):13. XU Xiaodong, ZHANG Xiaohong, CHENG Shilai. Boresight Misalignment Calibration of Airborne Laser Scanning System[J]. Heilongjiang Science and Technology Information, 2010(1):13.
[17] 官云兰, 程效军, 詹新武, 等. 地面三维激光扫描仪系统误差标定[J]. 测绘学报, 2014, 43(7):731-738. DOI:10.13485/j.cnki.11-2089.2014.0101. GUAN Yunlan, CHENG Xiaojun, ZHAN Xinwu, et al. Research on Systematic Errors Calibration of Terrestrial Laser Scanner[J]. Acta Geodaetica et Cartographica Sinica, 2014, 43(7):731-738. DOI:10.13485/j.cnki.11-2089.2014.0101.
[18] 王宝岭. 船载多传感器水上水下综合测量系统检校技术研究[D]. 青岛:山东科技大学, 2015. WANG Baoling. The Research on Calibration Technology of Shipborne Overwater and Underwater Integrated Surveying System with Multi-sensors[D]. Qingdao:Shandong University of Science and Technology, 2015.
[19] 闫利, 刘华, 陈长军, 等. 无地面控制点的车载激光扫描系统外标定方法[J]. 武汉大学学报(信息科学版), 2015, 40(8):1018-1022. YAN Li, LIU Hua, CHEN Changjun, et al. A Calibration Method of Mobile Laser System without Control Points[J]. Geomatics and Information Science of Wuhan University, 2015, 40(8):1018-1022.
[20] LALONDE J F, VANDAPEL N, HUBER D F, et al. Natural Terrain Classification Using Three-dimensional LADAR Data for Ground Robot Mobility[J]. Journal of Field Robotics, 2006, 23(10):839-861.
[21] YANG Bisheng, DONG Zhen. A Shape-based Segmentation Method for Mobile Laser Scanning Point Clouds[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 2013, 81:19-30.
[22] YANG Bisheng, ZANG Yufu. Automated Registration of Dense Terrestrial Laser-scanning Point Clouds Using Curves[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 2014, 95:109-121.
[23] 董震, 杨必胜. 车载激光扫描数据中多类目标的层次化提取方法[J]. 测绘学报, 2015, 44(9):980-987. DOI:10.11947/j.AGCS.2015.20140339. DONG Zhen, YANG Bisheng. Hierarchical Extraction of Multiple Objects from Mobile Laser Scanning Data[J]. Acta Geodaetica et Cartographica Sinica, 2015, 44(9):980-987. DOI:10.11947/j.AGCS.2015.20140339.
[24] YANG Bisheng, DONG Zhen, LIU Yuan, et al. Computing Multiple Aggregation Levels and Contextual Features for Road Facilities Recognition Using Mobile Laser Scanning Data[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 2017, 126:180-194.
[25] 国家测绘局. CH/T 9008.1-2010基础地理信息数字成果1:5001:10001:2000数字线划图[S]. 北京:测绘出版社, 2010. National Administration of Surveying, Mapping and Geoinformation. CH/T 9008.1-2010 Digital Products of Fundamental Geographic Information 1:5001:10001:2000 Digital Line Graphs[S]. Beijing:Surveying and Mapping Press, 2010.