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Abstract
This paper proposes an hybrid online calibration method for a laser scanner mounted on a mobile platform also equipped with an imaging system. The method relies on finding the calibration parameters that best align the acquired points cloud to the images. The quality of this intermodal alignment is measured by Mutual information between image luminance and points reflectance. The main advantage and motivation is ensuring pixel accurate alignment of images and point clouds acquired simultaneously, but it is also much more flexible than traditional laser calibration methods.
Highlights
Mobile mapping systems are becoming more and more widespread because of their ability to capture extremely accurate data at large scale
Mutual Information (MI) is a powerful, precise and dense measure that is well adapted to aligning image and laser data
It is robust to illumination variations, multimodality, occlusions and mobile objects because its exploits all the information contained in the image and mobile laser scan
Summary
Mobile mapping systems are becoming more and more widespread because of their ability to capture extremely accurate data at large scale. The method that we propose is online, meaning that it does not require a special acquisition in a specially equipped site to perform the calibration, and that it can be used to assess the stability of image and laser calibrations in time
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