Abstract
A plane-based dynamic calibration method had been proposed by the previous study for the GeoSLAM ZEB Horizon handheld LiDAR scanner. Only one preliminary test was presented. Therefore, three datasets in a calibration field were collected in this study on different dates and at different times on the same date to investigate the efficiency of the proposed calibration approach and calibration results. The calibration results for these three datasets showed that all average residuals were closer to 0, and all a posterior unit weight standard deviations of the adjustment were also significantly reduced after calibration. Moreover, the RMSE (root mean square error) of the check planes was improved by about an average of 32.61%, 28.44%, and 14.7%, respectively, for the three datasets. The improvement was highly correlated with the quality of the calibration data. The RMSE differences of all check planes using calibration data collected on different dates and at different times on the same date for calibration was about 1–2 cm and less than 1 mm, respectively. There was no difference in the calibration results, demonstrating the efficiency of the proposed calibration approach and the calibration results during the two different dates.
Highlights
The GeoSLAM ZEB Horizon GeoSLAM ZEB Horizon (GeoSLAM Ltd., Nottingham, UK) LiDAR scanner is a form of handheld mobile mapping system (MMS) and has been applied on many occasions, due to its compact size, cost-effectiveness, and high performance [1]
The horizontal angle error ∆β could be ignored, and the system error calibration is only performed for the range scale factor and the rangefinder offset for the GeoSLAM ZEB Horizon
A plane-based dynamic calibration method for the GeoSLAM ZEB Horizon was proposed by the previous study [23] to calculate the systematic errors, including the range scale factor (S) and the rangefinder offset (C), and an indoor environment with sufficient space was selected as the calibration field
Summary
The GeoSLAM ZEB Horizon GeoSLAM ZEB Horizon (GeoSLAM Ltd., Nottingham, UK) LiDAR scanner is a form of handheld mobile mapping system (MMS) and has been applied on many occasions, due to its compact size, cost-effectiveness, and high performance [1]. Compared to the total station and terrestrial LiDAR scanner, it demonstrates high performance in collecting terrain data in general areas, such as in non-narrow alleys. It has been employed in different fields (e.g., cultural asset preservation in ancient cities [5], forest investigations [4,6,7], mine monitoring [1,8], disaster site reconstruction [9], tunnel surveying [10], topographic surveying [11], and the mapping of building interior structures [5,12]).
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