“…For example, (Muhammad and Lacroix, 2010), calibrated an HDL-64E using manually extracted wall surfaces while (Chen and Chien, 2012) used an automatic RANSAC-based plane detection algorithm to extract vertical walls for evaluation of the HDL-64E, (Atanacio-Jiménez et al, 2011) used larged cuboid control targets to calibrate their HDL-64E, and (Chan and Lichti, 2015) utilized cylindrical targets such as lampposts to calibrate a HDL-32E sensor. The calibration and accuracy of the previous generation Velodyne laser scanners has also been reported when they are fused with other sensors in a mobile mapping system, such as the fusion of and HDL-64E and Ladybug camera reported in (Gong et al, 2013) and (Mirzaei et al, 2012), and the combination of an HDL-32E and frame camera in (Park et al, 2014). In summary, these prior studies have demonstrated that for both the HDL-64E and HDL-32E the factory calibration of the instruments was not optimized, that the instruments exhibited temporal instability and also required a significant warm-up period to reach steady-state ( (Glennie et al, 2013;Glennie andLichti, 2010, 2011).…”