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Optical Engineering

Automated approach for rigorous light detection and ranging system calibration without preprocessing and strict terrain coverage requirements
Author(s): Ana P. Kersting; Ayman Habib; Ki-In Bang; Jan Skaloud
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Paper Abstract

Light detection and ranging (LiDAR) has demonstrated its capabilities as a prominent technique for the direct acquisition of high density and accurate topographic information. To achieve the potential accuracy of such systems, a rigorous system calibration should be performed. We introduce a novel rigorous LiDAR system calibration procedure where the system parameters are determined by minimizing the discrepancies among conjugate surface elements in overlapping strips and control data, if available. The method is automated and does not require specific features (e.g., planes or lines) in the covered area or preclassification of the point cloud. Suitable primitives, which do not involve preprocessing of the data, are implemented. The correspondence between conjugate primitives is determined using a robust matching procedure. A modification to the Gauss Markov model is introduced to keep the implementation of the calibration procedure simple while utilizing higher order primitives. Experimental results have demonstrated the effectiveness of the proposed method over different types of terrain coverage.

Paper Details

Date Published: 11 July 2012
PDF: 20 pages
Opt. Eng. 51(7) 076201 doi: 10.1117/1.OE.51.7.076201
Published in: Optical Engineering Volume 51, Issue 7
Show Author Affiliations
Ana P. Kersting, Univ. of Calgary (Canada)
Ayman Habib, Univ. of Calgary (Canada)
Ki-In Bang, Univ. of Calgary (Canada)
Jan Skaloud, Ecole Polytechnique Fédérale de Lausanne (Switzerland)


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