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Study On The Calibration Of Laser Scanner And Line Scan Camera Based On The Vehicle-Borne Mobile Surveying System

Posted on:2012-06-20Degree:DoctorType:Dissertation
Country:ChinaCandidate:Y M HanFull Text:PDF
GTID:1110330368988722Subject:Photogrammetry and Remote Sensing
Abstract/Summary:PDF Full Text Request
Vehicle-borne Mobile Surveying System (VMSS), which consists of laser scanner, line scan camera, GPS, IMU and DMI, has been developed and applied gradually since 70s of last century. It has been widely used in digital cities, environment monitoring, urban planning, heritage conservation and three-dimensional modeling and other fields.In recent years, with development of surveying technologies,3D information requires the VMSS to improve its accuracy. Besides the whole calibration, the precision of the whole system depends on the single sensor calibration. So it researched laser scanner calibration and the line scan camera calibration. These two sensors are the core sensors of the VMSS SSW(ShoushiSiwei). This paper has done some researches including calibration principles of laser scanner and line scan camera, and two data fusion methods and application. The details information is following:(1) The intensive researches on the laser scanner calibrationâ‘ Analyzed and compared characteristics of the popular laser scanner which used on the VMSS, especially the characteristics of the domestic RA-360 series of three-dimensional laser scanners. The structure and properties had been analyzed, and then it found the main factors that affect measurement precision of this kind of sensors;â‘¡It defined taper angle of the RA-360 laser scanner and designed appropriate programs to measure it, a dynamic one and a static one, which could eliminating their influence on laser scanner's distances and angles measurements;â‘¢It investigated into the precision of the angle measurement of the RA-360 laser scanners. Provided a model for laser scanner angle measurement calibration, and designed the appropriate calibration methods;â‘£The pulse range principle of the RA-360 laser scanner had been studied. Then it established a ranging calibration model for the RA-360 series of laser scanner, and designed appropriate experiments to implement the range calibration, which is the first time to add the reflectance intensity influence on the range measuring.(2) The intensive researches on the line scan CCD calibration based on the calibrated laser scanner â‘ It deduced the formulas of the parallel structure under two kinds of working pattern, the vertical installation and incline installation.â‘¡On the base of RA-360 laser scanner calibration, a novel calibration theory of the line scan CCD camera had been proposed. Then it proved the validity and stability of this new theory.(3) The detailed researches on the data fusion and the applicationâ‘ It proposed a new method to fusion the laser scanner data and line CCD image, based on calibration of the laser scanner and line scan camera. Color laser point cloud was produced by this new method, which laid a good foundation for the latter classification, modeling and mapping of the point cloud.â‘¡It provided several cases of the practical use of the VMSS and summarized some experience, then it pointed the well future of this kind of system.In summary, it analyzed the factors that impacted the accuracy of the vehicle-borne laser scanner, and established the calibration model of its angle measurement error and range measurement error. Then it designed the experiments program to compute the corresponding model parameters. Designed the parallel structure of the laser scanner and the line scan camera, and based on this, it proposed a new line scan camera calibration method and a corresponding line scan camera calibration model. Meanwhile it designed the experiments to obtain the model parameters and accuracy assessment. Finally, a new method to fusion the laser scanner data and the line scan camera data was proposed.
Keywords/Search Tags:VMSS, laser scanner, line scan camera, calibration technology, data fusion, color point cloud
PDF Full Text Request
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