A unified approach to self-calibration of terrestrial laser scanners

Reshetyuk, Yuriy

doi:10.1016/j.isprsjprs.2010.05.005

Cited by 72 publications

(61 citation statements)

References 10 publications

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“…Nevertheless, there are only few systematic studies of the impact of re ectance, and proposals for calibration of terrestrial laser scanners (TLS) do not yet include a dependence of distance deviations on re ectance or on received signal strength, see e.g., [3,5,10]. This is likely due to the fact that the impact may be small and hidden within the noise of individual scanned points unless exposed by test on special facilities.…”

Section: Introductionmentioning

confidence: 99%

Influence of surface reflectivity on reflectorless electronic distance measurement and terrestrial laser scanning

Zámečníková

Woschitz

Ressl

2014

Journal of Applied Geodesy

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Abstract:The uncertainty of electronic distance measurement to surfaces rather than to dedicated precisionre ectors (re ectorless EDM) is a ected by the entire system comprising instrument, atmosphere and surface. The impact of the latter is signi cant for applications like geodetic monitoring, high-precision surface modelling or laser scanner self-calibration. Nevertheless, it has not yet received su cient attention and is not well understood. We have carried out an experimental investigation of the impact of surface re ectivity on the distance measurements of a terrestrial laser scanner. The investigation helps to clarify (i) whether variations of re ectivity cause systematic deviations of re ectorless EDM, and (ii) if so, whether it is possible and worth modelling these deviations. The results show that di erences in re ectivity may actually cause systematic deviations of a few mm with di usely reecting surfaces and even more with directionally re ecting ones. Using a bivariate quadratic polynomial we were able to approximate these deviations as a function of measured distance and measured signal strength alone. Using this approximation to predict corrections, the deviations of the measurements could be reduced by about 70% in our experiment. We conclude that there is a systematic effect of surface re ectivity (or equivalently received signal strength) on the distance measurement and that it is possible to model and predict this e ect. Integration into laser scanner calibration models may be bene cial for highprecision applications. The results may apply to a broad range of instruments, not only to the speci c laser scanner used herein.

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Section: Introductionmentioning

confidence: 99%

Influence of surface reflectivity on reflectorless electronic distance measurement and terrestrial laser scanning

Zámečníková

Woschitz

Ressl

2014

Journal of Applied Geodesy

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“…The calibration of laser scanning systems is an active topic of research (Gielsdorf et al, 2004;Gruen, 2005, 2010;Lichti, 2007;Reshetyuk, 2009;Schneider, 2009;Reshetyuk, 2010;Soudarissanane et al, 2011;Glennie, 2012;Chow et al, 2013). The aim of the geometric calibration is to determine the optimal set of additional parameters which best describes the behaviour of the device itself.…”

Section: Introductionmentioning

confidence: 99%

Self-calibration of terrestrial laser scanners: selection of the best geometric additional parameters

Lerma

García-San-Miguel

2014

ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:Systematic errors are present in laser scanning system observations due to manufacturer imperfections, wearing over time, vibrations, changing environmental conditions and, last but not least, involuntary hits. To achieve maximum quality and rigorous measurements from terrestrial laser scanners, a least squares estimation of additional calibration parameters can be used to model the a priori unknown systematic errors and therefore improve output observations. The selection of the right set of additional parameters is not trivial and requires laborious statistical analysis. Based on this requirement, this article presents an approach to determine the best set of additional parameters which provides the best mathematical solution based on a dimensionless quality index. The best set of additional parameters is the one which provides the maximum quality index (i.e. minimum value) for the group of observables, exterior orientation parameters and reference points. Calibration performance is tested using both a phase shift continuous wave scanner, FARO PHOTON 880, and a pulse-based time-of-flight system, Leica HDS3000. The improvement achieved after the geometric calibration is 30% for the former and 70% for the latter.

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“…However many TLS tasks require the determination of a specific point from the point cloud. For example, point-based registration (Lichti and Skaloud, 2010a), geo-referencing of point cloud, and also different methods of scanner calibration (Lichti, 2010), (Reshetyuk, 2010), (Schulz, 2007). The problem can be solved by scanning geometric objects or contrast shapes that can be recognized from point cloud.…”

Section: Introductionmentioning

confidence: 99%

High precision target center determination from a point cloud

Kregar

Grigillo

Kogoj

2013

ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:Many applications of terrestrial laser scanners (TLS) require the determination of a specific point from a point cloud.In this paper procedure of high precision planar target center acquisition from point cloud is presented. The process is based on an image matching algorithm but before we can deal with raster image to fit a target on it, we need to properly determine the best fitting plane and project points on it. The main emphasis of this paper is in the precision estimation and propagation through the whole procedure which allows us to obtain precision assessment of final results (target center coordinates). Theoretic precision estimations -obtained through the procedure were rather high so we compared them with the empiric precision estimations obtained as standard deviations of results of 60 independently scanned targets. An χ 2 -test confirmed that theoretic precisions are overestimated. The problem most probably lies in the overestimated precisions of the plane parameters due to vast redundancy of points. However, empirical precisions also confirmed that the proposed procedure can ensure a submillimeter precision level. The algorithm can automatically detect grossly erroneous results to some extent. It can operate when the incidence angles of a laser beam are as high as 80• , which is desirable property if one is going to use planar targets as tie points in scan registration. The proposed algorithm will also contribute to improve TLS calibration procedures.

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A unified approach to self-calibration of terrestrial laser scanners

Cited by 72 publications

References 10 publications

Influence of surface reflectivity on reflectorless electronic distance measurement and terrestrial laser scanning

Influence of surface reflectivity on reflectorless electronic distance measurement and terrestrial laser scanning

Self-calibration of terrestrial laser scanners: selection of the best geometric additional parameters

High precision target center determination from a point cloud

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