Determination of Position and Orientation of LiDAR Sensors on Multisensor Platforms

Hartmann, Jens; Paffenholz, Jens‐André; Strübing, Thorsten; Neumann, Ingo

doi:10.1061/(asce)su.1943-5428.0000226

Cited by 15 publications

(20 citation statements)

References 4 publications

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“…The determination of the translations is carried out with a standard deviation of a few tenths of a millimeter and the rotations with a few milli degrees. Investigations are described in [34][35][36]. Thus, all measured points can be transformed by the CLS into the CLT.…”

Section: Measuring Principles Of the K-tls-based Mssmentioning

confidence: 99%

“…The procedure of the system calibration, where the 6 DoF between the origin of the laser scanner and the T-Probe are determined, was explained in Section 2.3. Within this, the three translations (t x , t y , t z ) can be determined with a standard deviation of σ t x t y t z ≤ 0.1 mm and the three rotations (roll, pitch, yaw) with σ roll,pitch,yaw ≤ 0.001 • − 0.002 • [36]. The standard deviations of the three translations are independent of the distance to the object.…”

Section: System Calibration For K-tlsmentioning

confidence: 99%

See 1 more Smart Citation

High-Precision 3D Object Capturing with Static and Kinematic Terrestrial Laser Scanning in Industrial Applications—Approaches of Quality Assessment

Stenz¹,

Hartmann

Paffenholz

et al. 2020

Remote Sensing

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Terrestrial laser scanning is used in many disciplines of engineering. Examples include mobile mapping, architecture surveying, archaeology, as well as monitoring and surveillance measurements. For most of the mentioned applications, 3D object capturing in an accuracy range of several millimeters up to a few centimeters is sufficient. However, in engineering geodesy, particularly in industrial surveying or monitoring measurements, accuracies in a range of a few millimeters are required. Additional increased quality requirements apply to these applications. This paper focuses on the quality investigation of data captured with static and kinematic terrestrial laser scanning. For this purpose, suitable sensors, which are typically used in the approach of a multi-sensor-system, as well as the corresponding data capturing/acquisition strategies, are presented. The aim of such systems is a geometry- and surface-based analysis in an industrial environment with an accuracy of +/− 1–2 mm or better.

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Section: Measuring Principles Of the K-tls-based Mssmentioning

confidence: 99%

Section: System Calibration For K-tlsmentioning

confidence: 99%

High-Precision 3D Object Capturing with Static and Kinematic Terrestrial Laser Scanning in Industrial Applications—Approaches of Quality Assessment

Stenz¹,

Hartmann

Paffenholz

et al. 2020

Remote Sensing

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“…The determination of these parameters is accomplished by means of a system calibration in advance, see Section 2.2. The lever arm can be determined with a standard deviation of ≤ 1 mm and the boresight angles with a standard deviation of a few millidegrees, see (Keller, 2016), (Hartmann et al, 2017) and (Heinz et al, 2017).…”

Section: The Principle Of K-tls With Focus On the System Calibrationmentioning

confidence: 99%

“…An approach was published by (Strübing and Neumann, 2013) and will be presented in detail in Section 2. Further usage and investigations are given in (Keller, 2016), (Heinz et al, 2017) and (Hartmann et al, 2017). The determination of the lever arm and boresight angles will be achieved by measuring known reference geometries with the laser scanner.…”

Section: Introductionmentioning

confidence: 99%

Optimisation of the Calibration Process of a K-TLS Based Multi-Sensor-System by Genetic Algorithms

Hartmann

Gösseln

Schild

et al. 2019

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. In recent years, the requirements in the industrial production of elongated objects, e.g., aircraft, have been increased. An essential aspect of the production process is the 3D object detection as well as the qualitative assessment of the captured data. On the one hand high accuracy requirements with a 3D standard deviation of &sigma;3D&thinsp;=&thinsp;1&thinsp;mm have to be fulfilled, on the other hand an efficient 3D object capturing is needed. In terms of efficiency, kinematic terrestrial laser scanning (k-TLS) has proven its strength in the recent years. It can be seen as an alternative and is even more powerful than to the well established static terrestrial laser scanning (s-TLS). In order to perform a high accurate 3D object capturing with k-TLS, the 3D object capturing of the initial sensor, the (geo-)referencing of the mobile platform, the synchronisation of all sensors and the system calibration, which means the determination of six extrinsic parameters have to be performed with suitable accuracy. Within this contribution we focus on the system calibration. Therefore an approach based on known reference geometries, here planes, is used (Strübing and Neumann, 2013). As a result, the lever arm and boresight angles are determined. Hereby the number as well as the position and orientation of the reference geometries is of importance. Therefore, an optimal arrangement has to be found. Here a sensitive analysis based on uncertainty propagation is used. A selective search of an optimised arrangement is carried out by a genetic algorithm. Within some examples we demonstrate some theoretical aspects and how an optimisation of the reference geometry arrangement can be achieved.

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“…By solving the resulting nonlinear Gauss–Helmert model (GHM, in the sense of [15], p. 416) the distance vector

bold-italicd = {[d_{1}, . . ., d_{j}, . ., d_{r}]}^{T}

(where r equals the total number of measurements of the PLS to the calibration frame) is minimized and the desired 6DoF can be obtained. Hartmann et al [16] describe this calibration method in detail and apply it to a related kinematic multi sensor system.…”

Section: Calibration Of the Plsmentioning

confidence: 99%

Comprehensive and Highly Accurate Measurements of Crane Runways, Profiles and Fastenings

Dennig

Bureick

Link

et al. 2017

Sensors

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The process of surveying crane runways has been continually refined due to the competitive situation, modern surveying instruments, additional sensors, accessories and evaluation procedures. Guidelines, such as the International Organization for Standardization (ISO) 12488-1, define target values that must be determined by survey. For a crane runway these are for example the span, the position and height of the rails. The process has to be objective and reproducible. However, common processes of surveying crane runways do not meet these requirements sufficiently. The evaluation of the protocols, ideally by an expert, requires many years of experience. Additionally, the recording of crucial parameters, e.g., the wear of the rail, or the condition of the rail fastening and rail joints, is not regulated and for that reason are often not considered during the measurement. To solve this deficit the Advanced Rail Track Inspection System (ARTIS) was developed. ARTIS is used to measure the 3D position of crane rails, the cross-section of the crane rails, joints and, for the first time, the (crane-rail) fastenings. The system consists of a monitoring vehicle and an external tracking sensor. It makes kinematic observations with the tracking sensor from outside the rail run, e.g., the floor of an overhead crane runway, possible. In this paper we present stages of the development process of ARTIS, new target values, calibration of sensors and results of a test measurement.

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Determination of Position and Orientation of LiDAR Sensors on Multisensor Platforms

Cited by 15 publications

References 4 publications

High-Precision 3D Object Capturing with Static and Kinematic Terrestrial Laser Scanning in Industrial Applications—Approaches of Quality Assessment

High-Precision 3D Object Capturing with Static and Kinematic Terrestrial Laser Scanning in Industrial Applications—Approaches of Quality Assessment

Optimisation of the Calibration Process of a K-TLS Based Multi-Sensor-System by Genetic Algorithms

Comprehensive and Highly Accurate Measurements of Crane Runways, Profiles and Fastenings

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