title: Utilization of a Terrestrial Laser Scanner for the Calibration of Mobile Mapping Systems.
abstract: This paper proposes a practical calibration solution for estimating the boresight and lever-arm parameters of the sensors mounted on a Mobile Mapping System (MMS). On our MMS devised for conducting the calibration experiment, three network video cameras, one mobile laser scanner, and one Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) were mounted. The geometric relationships between three sensors were solved by the proposed calibration, considering the GNSS/INS as one unit sensor. Our solution basically uses the point cloud generated by a 3-dimensional (3D) terrestrial laser scanner rather than using conventionally obtained 3D ground control features. With the terrestrial laser scanner, accurate and precise reference data could be produced and the plane features corresponding with the sparse mobile laser scanning data could be determined with high precision. Furthermore, corresponding point features could be extracted from the dense terrestrial laser scanning data and the images captured by the video cameras. The parameters of the boresight and the lever-arm were calculated based on the least squares approach and the precision of the boresight and lever-arm could be achieved by 0.1 degrees and 10 mm, respectively.
authors.affiliation: School of Civil and Environmental Engineering, Yonsei University, Seodaemun-gu, Seoul 03722, Korea. hotaeim@yonsei.ac.kr.
authors.forename: Seunghwan
authors.initials: S
authors.lastname: Hong
authors.affiliation: School of Civil and Environmental Engineering, Yonsei University, Seodaemun-gu, Seoul 03722, Korea. moncher@yonsei.ac.kr.
authors.forename: Ilsuk
authors.initials: I
authors.lastname: Park
authors.affiliation: School of Civil and Environmental Engineering, Yonsei University, Seodaemun-gu, Seoul 03722, Korea. ontheground@yonsei.ac.kr.
authors.forename: Jisang
authors.initials: J
authors.lastname: Lee
authors.affiliation: Department of Computer Science, Yonsei University, Seodaemun-gu, Seoul 03722, Korea. kylim@yonsei.ac.kr.
authors.forename: Kwangyong
authors.initials: K
authors.lastname: Lim
authors.affiliation: School of Civil and Environmental Engineering, Yonsei University, Seodaemun-gu, Seoul 03722, Korea. yoonjo15@yonsei.ac.kr.
authors.forename: Yoonjo
authors.initials: Y
authors.lastname: Choi
authors.affiliation: School of Civil and Environmental Engineering, Yonsei University, Seodaemun-gu, Seoul 03722, Korea. sohn1@yonsei.ac.kr.
authors.forename: Hong-Gyoo
authors.initials: HG
authors.lastname: Sohn
keywords: boresight; calibration; lever-arm; mobile mapping system; terrestrial laser scanner