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A unified approach to self-calibration of terrestrial laser scanners

机译：统一的地面激光扫描仪自校准方法

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摘要

In recent years, the method of self-calibration widely used in photogrammetry has been found suitable for the estimation of systematic errors in terrestrial laser scanners. Since high correlations can be present between the estimated parameters, ways to reduce them have to be found. This paper presents a unified approach to self-calibration of terrestrial laser scanners, where the parameters in a least-squares adjustment are treated as observations by assigning appropriate weights to them. The higher these weights are the lower the parameter correlations are expected to be. Self-calibration of a pulsed laser scanner Leica Scan Station was performed with the unified approach. The scanner position and orientation were determined during the measurements with the help of a total station, and the point clouds were directly georeferenced. The significant systematic errors were zero error in the laser rangefinder and vertical circle index error. Most parameter correlations were comparatively low. In part, precise knowledge of the horizontal coordinates of the scanner centre helped greatly to achieve low correlation between these parameters and the zero error. The approach was shown to be advantageous to the use of adjustment with stochastic (weighted) inner constraints where the parameter correlations were higher. At the same time, the collimation error could not be estimated reliably due to its high correlation with the scanner azimuth because of a limited vertical distribution of the targets in the calibration field. While this problem can be solved for a scanner with a nearly spherical field-of-view, it will complicate the calibration of scanners with limited vertical field-of-view. Investigations into the influence of precision of the scanner position and levelling on the adjustment results lead to two important findings. First, it is not necessary to level the scanner during the measurements when using the unified approach since the parameter correlations are relatively low anyway. Second, the scanner position has to be known with a precision of about 1 mm in order to get a reliable estimate of the zero error.
机译：近年来，已发现在摄影测量中广泛使用的自校准方法适用于估算地面激光扫描仪中的系统误差。由于估计参数之间可能存在高相关性，因此必须找到减少它们的方法。本文提出了一种统一的地面激光扫描仪自校准方法，其中通过将最小二乘平差中的参数分配适当的权重，将其视为观测值。这些权重越高，则预期的参数相关性越低。脉冲激光扫描仪Leica Scan Station的自校准采用统一方法进行。在全站仪的帮助下确定扫描仪的位置和方向，并直接对点云进行地理参考。明显的系统误差是激光测距仪的零误差和垂直圆指数误差。大多数参数相关性都较低。在某种程度上，对扫描仪中心水平坐标的精确了解在很大程度上有助于实现这些参数与零误差之间的低相关性。结果表明，该方法有利于在参数相关性较高的情况下使用具有随机（加权）内部约束的调整。同时，由于校准区域中目标的垂直分布有限，由于与扫描仪方位角高度相关，因此无法可靠地估计准直误差。虽然对于具有近乎球形的视场的扫描仪可以解决此问题，但它将使垂直视场有限的扫描仪的校准复杂化。对扫描仪位置和水平度精度对调整结果的影响进行的调查得出了两个重要发现。首先，由于参数相关性相对较低，因此在使用统一方法时无需在测量过程中调平扫描仪。其次，必须以大约1毫米的精度知道扫描仪的位置，以便可靠地估计零误差。

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