Abstract
The static calibration and analysis of the Velodyne HDL-64E S2 scanning LiDAR system is presented and analyzed. The mathematical model for measurements for the HDL-64E S2 scanner is derived and discussed. A planar feature based least squares adjustment approach is presented and utilized in a minimally constrained network in order to derive an optimal solution for the laser’s internal calibration parameters. Finally, the results of the adjustment along with a detailed examination of the adjustment residuals are given. A three-fold improvement in the planar misclosure residual RMSE over the standard factory calibration model was achieved by the proposed calibration. Results also suggest that there may still be some unmodelled distortions in the range measurements from the scanner. However, despite this, the overall precision of the adjusted laser scanner data appears to make it a viable choice for high accuracy mobile scanning applications.
Highlights
In the past five years mobile terrestrial scanning has emerged as a suitable tool for performing linear and urban-area surveys of high accuracy
Most systems used for mobile scanning are centered around high accuracy 2D line scanners which provide a full 360 degree field of view, such as the Riegl
The use of the adjusted laser parameters resulted in a reduction in the planar misclosure RMSE by a factor of almost three over the standard factory calibration model for the scanner
Summary
In the past five years mobile terrestrial scanning has emerged as a suitable tool for performing linear and urban-area surveys of high accuracy. For multiple look angles, and for occlusion minimization, most systems employ 2 or more of these 2D circular line scanners They are fairly expensive and can make the use of a mobile terrestrial scanning system quite cost prohibitive. An attractive alternative to the circular 2D line scanners, both in terms of price and scanning geometry, is the Velodyne HDL-64E S2 scanner. This unit consists of 64 2D line scanners contained within one very compact sensor pod. High precision mobile mapping applications, such as those for State Departments of Transportation (DOTs) require vertical accuracies better than 1 inch (2.5 cm), see for example [3]. The laser scanner is required so that overall expected mobile mapping system accuracy can be evaluated, see for example [4]
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