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Remote Sens. 2015, 7(6), 7402-7424; doi:10.3390/rs70607402

A Least Squares Collocation Method for Accuracy Improvement of Mobile LiDAR Systems

1
State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, No.129 Luoyu Road, Wuhan 430079, China
2
Shenzhen Key Laboratory of Spatial-temporal Smart Sensing and Services, Shenzhen University, No.3688 Nanhai Road, Shenzhen 518060, China
3
School of Remote Sensing, Wuhan University, No.129 Luoyu Road, Wuhan 430079, China
4
School of Geography and Planning, Sun Yat-Sen University, No.135, West XinGang Road, Guangzhou 510275, China
5
Wuhan Hi-Target Cloud Corporation, The New Technology Development Zone, Wuhan 430223, China
6
Centre for Transport Studies (CTS), Imperial College London, Exhibition Road, London SW7 2AZ, UK
*
Authors to whom correspondence should be addressed.
Academic Editors: Juha Hyyppä, Janet Nichol and Prasad S. Thenkabail
Received: 23 December 2014 / Revised: 12 May 2015 / Accepted: 19 May 2015 / Published: 3 June 2015
(This article belongs to the Special Issue Lidar/Laser Scanning in Urban Environments)
View Full-Text   |   Download PDF [849 KB, uploaded 3 June 2015]   |  

Abstract

In environments that are hostile to Global Navigation Satellites Systems (GNSS), the precision achieved by a mobile light detection and ranging (LiDAR) system (MLS) can deteriorate into the sub-meter or even the meter range due to errors in the positioning and orientation system (POS). This paper proposes a novel least squares collocation (LSC)-based method to improve the accuracy of the MLS in these hostile environments. Through a thorough consideration of the characteristics of POS errors, the proposed LSC-based method effectively corrects these errors using LiDAR control points, thereby improving the accuracy of the MLS. This method is also applied to the calibration of misalignment between the laser scanner and the POS. Several datasets from different scenarios have been adopted in order to evaluate the effectiveness of the proposed method. The results from experiments indicate that this method would represent a significant improvement in terms of the accuracy of the MLS in environments that are essentially hostile to GNSS and is also effective regarding the calibration of misalignment. View Full-Text
Keywords: Global Navigation Satellites Systems; positioning and orientation system; mobile LiDAR system; least squares collocation Global Navigation Satellites Systems; positioning and orientation system; mobile LiDAR system; least squares collocation
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Mao, Q.; Zhang, L.; Li, Q.; Hu, Q.; Yu, J.; Feng, S.; Ochieng, W.; Gong, H. A Least Squares Collocation Method for Accuracy Improvement of Mobile LiDAR Systems. Remote Sens. 2015, 7, 7402-7424.

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