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Sensors 2017, 17(3), 474;

Utilization of a Terrestrial Laser Scanner for the Calibration of Mobile Mapping Systems

School of Civil and Environmental Engineering, Yonsei University, Seodaemun-gu, Seoul 03722, Korea
Department of Computer Science, Yonsei University, Seodaemun-gu, Seoul 03722, Korea
Author to whom correspondence should be addressed.
Academic Editors: Cheng Wang, Julian Smit, Ayman F. Habib and Michael Ying Yang
Received: 19 December 2016 / Revised: 23 February 2017 / Accepted: 24 February 2017 / Published: 27 February 2017
(This article belongs to the Special Issue Multi-Sensor Integration and Fusion)
Full-Text   |   PDF [13909 KB, uploaded 27 February 2017]   |  


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. View Full-Text
Keywords: mobile mapping system; terrestrial laser scanner; calibration; boresight; lever-arm mobile mapping system; terrestrial laser scanner; calibration; boresight; lever-arm

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Hong, S.; Park, I.; Lee, J.; Lim, K.; Choi, Y.; Sohn, H.-G. Utilization of a Terrestrial Laser Scanner for the Calibration of Mobile Mapping Systems. Sensors 2017, 17, 474.

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