Abstract
Abstract. This paper proposes a methodology to calibrate the laser scanner of a Mobile Laser Scanning System (MLS) with the trajectory of the other MLS, both of which are installed directly above the top of both rails. Railway vehicle laser scanners systems of MLS are able to obtain 3D scanning map of the rail environment. In order to adapt the actual site condition of the maintenance works, we propose a calibration method with non-linear Least Mean Square calculation which use point clouds around poles along rails and sleepers of rails as cylindrical and planner constraints. The accuracy of 0.006 m between two laser point clouds can be achieved with this method. With the common planar and cylinder condition Leven-Marquardt method has been applied for this method. This method can execute without a good initial value for the extrinsic parameter and can shorten the processing time compared with the linear type of Least Mean Square method.
Highlights
Laser scanning technology is becoming more and more common
In order to calibrate the relative orientation between two Mobile Laser Scanning System (MLS) directory above the rails we propose the method with non-linear Least Mean Square calculation which use point clouds around poles along rails and sleepers of rails as cylindrical and planner constraints
We propose the system calibration method which comprises the determination of the range offset and the extrinsic calibration parameters of a laser scanner of MLS (MLS-b) from an origin of another MLS (MLS-a)
Summary
Laser scanning technology is becoming more and more common. Methods such as Terrestrial Laser Scanning System (TLS) and Mobile Laser Scanning System (MLS) have begun to be used for monitoring railway infrastructures. The authors proposed a method of deploying two MLS units directly above the rails and of matching two sets of point clouds based on the centre line between railway gauges (Yamamoto, Yabuki, 2019a, 2019b). We propose a calibration method applying the mutual orientation method based on the collinear and coplanar condition of photogrammetry in order to stably match the point cloud of the two MLSs directly above the rails.
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