Journal ArticleDOI
Boresight alignment method for mobile laser scanning systems
TLDR
In this article, a 3D laser scanner operating in a 2D line-scan mode from various different runs and scan directions is used for determining the angular alignment between inertial measurement unit and laser scanner.Abstract:
Abstract Mobile laser scanning (MLS) is the latest approach towards fast and cost-efficient acquisition of 3-dimensional spatial data. Accurately evaluating the boresight alignment in MLS systems is an obvious necessity. However, recent systems available on the market may lack of suitable and efficient practical workflows on how to perform this calibration. This paper discusses an innovative method for accurately determining the boresight alignment of MLS systems by employing 3D laser scanners. Scanning objects using a 3D laser scanner operating in a 2D line-scan mode from various different runs and scan directions provides valuable scan data for determining the angular alignment between inertial measurement unit and laser scanner. Field data is presented demonstrating the final accuracy of the calibration and the high quality of the point cloud acquired during an MLS campaign.read more
Citations
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Journal ArticleDOI
Consistency Analysis and Improvement of Vision-aided Inertial Navigation
TL;DR: An observability constrained VINS (OC-VINS), which explicitly enforces the unobservable directions of the system, hence preventing spurious information gain and reducing inconsistency is developed.
Journal ArticleDOI
Use of mobile LiDAR in road information inventory: a review
TL;DR: This review presents a more in-depth description of current mobile LiDAR studies on road information inventory, including the detection and extraction of road surfaces, small structures on the road surfaces and pole-like objects.
Journal ArticleDOI
Synthesis of Transportation Applications of Mobile LIDAR
TL;DR: A thorough review of available literature was conducted to inform of advancements in mobile LIDAR technology, techniques, and current and emerging applications in transportation.
Journal ArticleDOI
Automated Road Information Extraction From Mobile Laser Scanning Data
TL;DR: This paper describes the development of automated algorithms for extracting road features (road surfaces, road markings, and pavement cracks) from MLS point cloud data and concludes that MLS is a reliable and cost-effective alternative for rapid road inspection.
Proceedings ArticleDOI
Improving quality of laser scanning data acquisition through calibrated amplitude and pulse deviation measurement
TL;DR: In this paper, the state-of-the-art online waveform processing as implemented in RIEGL's V-Line not only saves users post-processing time to obtain true 3D point clouds, but also adds the assets of calibrated amplitude and reflectance measurements for data classification and pulse deviation determination for effective and reliable data validation.
References
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TL;DR: In this paper, the authors describe a general-purpose representation-independent method for the accurate and computationally efficient registration of 3D shapes including free-form curves and surfaces, based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point.
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Jan Skaloud,Derek D. Lichti +1 more
TL;DR: A rigorous method for estimating some of the calibration parameters in airborne laser scanning (ALS), namely the three bore-sight angles and the range-finder offset, which is shown to be not only accurate but also very robust in terms of convergence.
Geometrical aspects of airborne laser scanning and terrestrial laser scanning
TL;DR: In this article, the current state of laser scanning from airborne and terrestrial platforms for geometric reconstruction of object shape and size is reviewed, and the current performance figures of sensor systems are presented in an overview.
Proceedings ArticleDOI
Detection of concealed objects with a mobile laser scanning system
TL;DR: In this article, the authors present experimental results disclosing a vehicle hidden behind bushes employing a terrestrial laser scanning system, which offers measurement rates of up to 125 kHz and ranging capabilities up to 500 m at a scan range of 360° and 100° for the line axis.