期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 7, 期 4, 页码 11338-11345出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2022.3193632
关键词
GNSS sensor extrinsic calibration; Mobile mapping system; LiDAR; Targetless calibration; Free of IMU
类别
资金
- Otto Poon Charitable Foundation Smart Cities Research Institute, Hong Kong Polytechnic University [CD03]
- SureFire: Smart Urban Resilience and Firefighting, Hong Kong Research Grants Council [T22-505/19-N]
- Urban Informatics for Smart Cities, The Hong Kong Polytechnic University [1-ZVN6]
A mobile mapping system (MMS) requires sensor calibration to ensure data quality, and global navigation satellite system (GNSS) and light detection and ranging (LiDAR) are important components of an MMS. We propose two calibration methods for sole GNSS sensors, which show good repeatability in experimental results.
A mobile mapping system (MMS) is a widely-used moving platform for the acquisition of rich geospatial information and requires sensor calibration to guarantee data quality. Global navigation satellite system (GNSS) sensor and light detection and ranging (LiDAR) are important parts of an MMS, and the extrinsic calibration between them can markedly improve its performance. A sole GNSS sensor is generally used in a portable MMS, which is the current trend. However, existing extrinsic calibration methods of GNSS/inertial navigation system (INS) are not applicable for the sole GNSS sensor because the former requires relative six degrees of freedom (DoF) pose output for both sensors and the latter can only provide 3-DoF positions. Here, we propose two sole GNSS sensor extrinsic calibration methods: one is a target-based direct calculation method and the other is a non-target-based automatic iterative method. The experiment results show the two methods have good repeatability, the error of the target-based method is below 3 cm, and the error of the non-target-based method is below 2 cm.
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