Abstract
Mobile laser scanning has become an established measuring technique that is used for many applications in the fields of mapping, inventory, and monitoring. Due to the increasing operationality of such systems, quality control w.r.t. calibration and evaluation of the systems becomes more and more important and is subject to on-going research. This paper contributes to this topic by using tools from geodetic configuration analysis in order to design and evaluate a plane-based calibration field for determining the lever arm and boresight angles of a 2D laser scanner w.r.t. a GNSS/IMU unit (Global Navigation Satellite System, Inertial Measurement Unit). In this regard, the impact of random, systematic, and gross observation errors on the calibration is analyzed leading to a plane setup that provides accurate and controlled calibration parameters. The designed plane setup is realized in the form of a permanently installed calibration field. The applicability of the calibration field is tested with a real mobile laser scanning system by frequently repeating the calibration. Empirical standard deviations of <1 ... 1.5 mm for the lever arm and <0.005 ∘ for the boresight angles are obtained, which was priorly defined to be the goal of the calibration. In order to independently evaluate the mobile laser scanning system after calibration, an evaluation environment is realized consisting of a network of control points as well as TLS (Terrestrial Laser Scanning) reference point clouds. Based on the control points, both the horizontal and vertical accuracy of the system is found to be < 10 mm (root mean square error). This is confirmed by comparisons to the TLS reference point clouds indicating a well calibrated system. Both the calibration field and the evaluation environment are permanently installed and can be used for arbitrary mobile laser scanning systems.
Highlights
IntroductionThe use of mobile mapping systems has gained increasing acceptance
In recent years, the use of mobile mapping systems has gained increasing acceptance
In addition to the configuration analysis, repetitive calibrations increase the controllability of the calibration parameters and allow for a realistic empirical quantification of their accuracy and stability
Summary
The use of mobile mapping systems has gained increasing acceptance This trend is confirmed by the great number of applications already addressed with this measuring technology, e.g., mapping of road corridors and city areas, determination of clearances, monitoring of infrastructures, or the extraction of geometric road parameters, road markings, and road furniture. While mobile mapping systems have reached an operational status, challenges exist in the context of quality assessment and quality control of the measured 3D point clouds. This is due to the fact that the data acquisition with mobile mapping systems comprises a complex processing chain. Many sources of errors exist that affect the quality of the 3D point cloud:
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