Automatic Data Selection and Boresight Adjustment of LiDAR Systems
| Autor: | Nicolas Seube, Rabine Keyetieu |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
LiDAR
010504 meteorology & atmospheric sciences Computer science Science 0211 other engineering and technologies 02 engineering and technology STRIPS 01 natural sciences law.invention Inertial measurement unit law Calibration Computer vision boresight Observability 021101 geological & geomatics engineering 0105 earth and related environmental sciences business.industry inertial measurement unit Ranging calibration Lidar Line (geometry) General Earth and Planetary Sciences Artificial intelligence business Data selection |
| Zdroj: | Remote Sensing; Volume 11; Issue 9; Pages: 1087 Remote Sensing, Vol 11, Iss 9, p 1087 (2019) |
| ISSN: | 2072-4292 |
| DOI: | 10.3390/rs11091087 |
| Popis: | This paper details a new automatic calibration method for the boresight angles between a LiDAR (Light Detection and Ranging) and an inertial measurement unit (IMU), based on a data selection algorithm, followed by the adjustment of boresight angles. This method, called LiDAR-IMU boresight automatic calibration (LIBAC), takes in input overlapping survey strips following simple line patterns over regular slopes. We first construct a boresight error observability criterion, used to select automatically the most sensitive points to boresight errors. From these points, we adjust the boresight angles. From a statistical analysis of the adjustment results, we derive the boresight angle precision. Results obtained with LIBAC on several LiDAR system integrated within drones are presented. We also give results about the reproducibility of the method. |
| Databáze: | OpenAIRE |
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