Self-calibration method for pulse-3D terrestrial laser scanner based on least-square collocation

Xian-tao GUO; Yan JIA

doi:10.37188/OPE.20212904.0665

您当前的位置：

首页 >

文章列表页 >

Self-calibration method for pulse-3D terrestrial laser scanner based on least-square collocation

Modern Applied Optics | 更新时间：2021-05-12

- Self-calibration method for pulse-3D terrestrial laser scanner based on least-square collocation
- Optics and Precision Engineering Vol. 29, Issue 4, Pages: 665-673(2021)
- 作者机构：
  
  南京邮电大学地理与生物信息学院，江苏南京 210023
- 作者简介：
  
  E-mail： 1683430858@qq.com
- 基金信息：
- DOI：10.37188/OPE.20212904.0665
  CLC： P204
- Received：24 September 2020，
  
  Revised：18 November 2020，
  
  Published：15 April 2021
- 稿件说明：
移动端阅览
郭献涛,贾燕.基于最小二乘配置的地面三维脉冲激光扫描仪自检校[J].光学精密工程,2021,29(04):665-673.

GUO Xian-tao,JIA Yan.Self-calibration method for pulse-3D terrestrial laser scanner based on least-square collocation[J].Optics and Precision Engineering,2021,29(04):665-673.
郭献涛,贾燕.基于最小二乘配置的地面三维脉冲激光扫描仪自检校[J].光学精密工程,2021,29(04):665-673. DOI： 10.37188/OPE.20212904.0665.

GUO Xian-tao,JIA Yan.Self-calibration method for pulse-3D terrestrial laser scanner based on least-square collocation[J].Optics and Precision Engineering,2021,29(04):665-673. DOI： 10.37188/OPE.20212904.0665.

摘要

针对地面三维脉冲激光扫描仪传统自检校方法中参数高相关性制约参数估计可靠性的不足，基于最小二乘配置方法与全站仪误差模型，提出一种地面三维脉冲激光扫描仪自检校方法。该方法通过对估计参数配置相关先验权重信息柔性定义检校网基准，把所有参数都作为检校平差中的观测值实施处理，同时对检校网进行优化设计，并联合等价权鲁棒估计实施自检校粗差检验与方差分量估计，有效降低了参数估计间的相关性，提高了检校的可靠性。基于扫描仪Leica scan station的模拟实验结果表明，该方法实现了大多数参数间的低相关性高精度估计，其中仅视准轴误差与扫描仪方位间的相关性（约为0.8）较为显著，但该相关性在4站扫描设计下得到了有效控制（下降到0.5）。

Abstract

To solve the problem of high correlation of parameters that restricts the reliability of the estimated parameters in the traditional self-calibration methods for pulse-terrestrial laser scanner， a novel self-calibration method is proposed based on the least square collocation method. An error model for total station has also been proposed. Using the calibration method， the calibration network benchmark can be flexibly defined by configuring the relevant prior weight information for the estimated parameters， and all the parameters are considered as observation values in the self-calibration adjustment. Additionally， by designing appropriate calibration network configuration and adopting the robust estimate with equivalent weight matrix to perform gross error detection and variance component estimation， this method effectively reduced the correlation between the estimated parameters and improved the reliability of self-calibration. Finally， the simulation results of Leica scan station showed that the proposed method can achieve low correlation and high-precision estimation of most parameters. The only significant correlation was between the parameters of collimation error and scanner azimuth （approximately 0.8； however， this correlation was effectively reduced to 0.5） in the four-station scanning design.

关键词

Keywords

references

杨书娟，邵永社，张珂殊 . 国产螺旋式扫描激光雷达系统自检校方法研究［J］. 电子与信息学报， 2018 ， 40 （ 5 ）： 1144 - 1150 .

YANG SH J ， SHAO Y SH ， ZHANG K SH . Research on self-calibration method of domestic spiral scanning laser radar system ［J］. Journal of Electronics & Information Technology ， 2018 ， 40 （ 5 ）： 1144 - 1150 . （in Chinese）

侯茂盛，刘继强，刘大礼，等 . 基于激光测距的激光扫描投影系统标定技术研究［J］. 中国激光， 2019 ， 46 （ 10 ）： 1004002 .

HOU M SH ， LIU J Q ， LIU D L ， et al . Research on calibration technology of laser scanning projection system based on laser ranging ［J］. Chinese Journal of Lasers ， 2019 ， 46 （ 10 ）： 1004002 . （in Chinese）

李小路，曾晶晶，王皓，等 . 三维扫描激光雷达系统设计及实时成像技术［J］. 红外与激光工程， 2019 ， 48 （ 5 ）： 0503004 .

LI X L ， ZENG J J ， WANG H ， et al . Design and real-time imaging technology of three-dimensional scanning LiDAR ［J］. Infrared and Laser Engineering ， 2019 ， 48 （ 5 ）： 0503004 . （in Chinese）

杜岩，吴志祥，谢谟文，等 . 地面激光扫描标靶的优化布设［J］. 光学精密工程， 2018 ， 26 （ 4 ）： 757 - 763 .

DU Y ， WU ZH X ， XIE M W ， et al . Optimal layout of calibration target in terrestrial laser scanning ［J］. Opt. Precision Eng. ， 2018 ， 26 （ 4 ）： 757 - 763 . （in Chinese）

LICHTI D D . Terrestrial laser scanner self-calibration： Correlation sources and their mitigation ［J］. ISPRS Journal of Photogrammetry and Remote Sensing ， 2010 ， 65 （ 1 ）： 93 - 102 .

NUBIOLA A ， BONEV I A . Absolute calibration of an ABB IRB 1600 robot using a laser tracker ［J］. Robotics and Computer-Integrated Manufacturing ， 2013 ， 29 （ 1 ）： 236 - 245 .

STEREŃCZAK K ， KRASZEWSKI B ， MIELCAREK M ， et al . Mapping individual trees with airborne laser scanning data in an European lowland forest using a self-calibration algorithm ［J］. International Journal of Applied Earth Observation and Geoinformation ， 2020 ， 93 ： 102191 .

SOUDARISSANANE S ， LINDENBERGH R ， MENENTI M ， et al . Scanning geometry： Influencing factor on the quality of terrestrial laser scanning points ［J］. ISPRS Journal of Photogrammetry and Remote Sensing ， 2011 ， 66 （ 4 ）： 389 - 399 .

CHOW J ， EBELING A . Low cost artificial planar target measurement techniques for terrestrial laser scanning ［C］. Remote Sensing and Optical Techniques ， CongressFIG ， Facing the Challenges-Building the Capacity ， Sydney ， Australia ， 2016 ： 11 - 16 .

DORNINGER D . Thinnest covering of the euclidean plane with incongruent circles ［J］. Analysis and Geometry in Metric Spaces ， 2017 ， 5 （ 1 ）： 40 - 46 .

MAHBAZ S ， CASCANTE G ， DUSSEAULT M B . Calibration of a piezoelectric transducer through laser measurements and numerical simulation ［J］. Journal of Environmental and Engineering Geophysics ， 2019 ， 24 （ 1 ）： 39 - 48 .

蔡军，赵原，李宇豪，等 . 一种三维激光扫描系统的设计及参数标定［J］. 北京航空航天大学学报， 2018 ， 44 （ 10 ）： 2208 - 2216 .

CAI J ， ZHAO Y ， LI Y H ， et al . A 3D laser scanning system design and parameter calibration ［J］. Journal of Beijing University of Aeronautics and Astronautics ， 2018 ， 44 （ 10 ）： 2208 - 2216 . （in Chinese）

李彦清，范海琦，朱奎名，等 . 激光扫描阵列结构增强不锈钢与塑料的连接强度［J］. 中国光学， 2020 ， 13 （ 2 ）： 313 - 322 .

LI Y Q ， FAN H Q ， ZHU K M ， et al . Enhanced bonding strength between stainless steel and plastic by using laser scanning array structure ［J］. Chinese Optics ， 2020 ， 13 （ 2 ）： 313 - 322 . （in Chinese）

徐寿志，程鹏飞，张玉，等 . 地面三维激光扫描仪的检校与测量精度评定［J］. 测绘通报， 2016 （ 2 ）： 79 - 83 .

XU SH ZH ， CHENG P F ， ZHANG Y ， et al . Calibration and accuracy evaluation of terrestrial laser scanner ［J］. Bulletin of Surveying and Mapping ， 2016 （ 2 ）： 79 - 83 . （in Chinese）

王建军，李云龙，苗松 . 机载激光雷达姿态角补偿及其效果验证［J］. 光学精密工程， 2018 ， 26 （ 4 ）： 788 - 795 .

WANG J J ， LI Y L ， MIAO S . Effectiveness verification of attitude compensation for airborne LiDAR ［J］. Opt. Precision Eng. ， 2018 ， 26 （ 4 ）： 788 - 795 . （in Chinese）

FRASER C S . Automatic camera calibration in close range photogrammetry ［J］. Photogrammetric Engineering & Remote Sensing ， 2013 ， 79 （ 4 ）： 381 - 388 .

Views

257

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Determination method of optimal measurement area of CNC machine tool on-machine measurement system

Two-dimensional abbe error analysis and modeling of CNC machine tool XY table unidirectional movement

On-machine measurement and fuzzy RBF neural network modeling for geometric errors of rotary axes of five-axis machine tools

Error Analysis for Focusing Mechanism of Space Camera

Related Author

ZHANG Shuangshuang

YANG Hongtao

MA Qun

LI Li

Tian-feng WU

Li LI

Hong-tao YANG

YE Jian-hua

Related Institution

School of Mechanical Engineering， Anhui University of Science and Technology

Anhui Key Laboratory of Mine Intelligent Equipment and Technology， Anhui University of Science and Technology

Key Laboratory of Mine Intelligent Equipment and Technology of Anhui Province， Anhui University of Science and Technology

School of Mechanical Engineering and Automation, Fuzhou University

School of Mechanical & Automotive Engineering, FuJian University of Technology

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰