TY - JOUR

T1 - Determination of Position and Orientation of LiDAR Sensors on Multisensor Platforms

AU - Hartmann, Jens

AU - Paffenholz, Jens-André

AU - Strübing, T.

AU - Neumann, Ingo

N1 - Funding information: The presented methods and results were obtained in the course of the collaborative project “FINISH—Exakte und schnelle Geometrieerfassung sowie Datenauswertung von Schiffsoberflächen für effiziente Beschichtungsprozesse” and are part of the subproject “Entwicklung von Algorithmen und Qualitätsprozessen für ein neuartiges kinematisches terrestrisches Laserscanningsystem” (03SX406D), which is funded by the German Federal Ministry for Economic Affairs and Energy (BMWi). The first, second, and fourth authors acknowledge support with the Leica T-Mac, which was provided by the Institute of Geodesy, Universität der Bundeswehr München. Substantial help was given, in the context of his bachelor thesis, by Lars Marschel.

PY - 2017/5/4

Y1 - 2017/5/4

N2 - The use of multisensor system (MSS) plays a key role in engineering geodesy. Because of the complexity of tasks such as industrial applications with high accuracy requirements for heterogeneous and efficient three-dimensional (3D) data acquisition, kinematic MSS are often used. Traditionally, these MSS are composed of referencing sensors and object-capturing sensors. The crucial point in a MSS setup is the determination of the mutual position and orientation [six degrees of freedom (6 DOF)] of each sensor. Within this contribution, a possibility for the determination of the 6 DOF of light detection and ranging (LiDAR) sensors in MSS is introduced. The presented approach is generally applicable and allows the 6 DOF determination of profile laser scanners. The 6 DOF and their uncertainty measures are estimated within an adjustment model by utilizing known reference geometries (RFGs). The approach is especially of interest when sensor origins are not physically available and measurable. It is generally applicable in a static or kinematic measurement environment. As an example, the approach is applied in an industrial environment with accuracy requirements of a few millimeters. The used MSS consists of a terrestrial laser scanner (object capturing) and a laser tracker (referencing). The linking component is a tracker-machine control sensor, which is attached to the laser scanner. More precisely, 6 DOF between the tracker-machine control sensor and the origin of the laser scanner have to be determined. Depending on the required accuracy of the 3D object acquisition, the determination of the 6 DOF must fulfill high accuracy requirements. Finally, the results and the accuracy of the 6 DOF determination are shown and validated with a static calibration procedure.

AB - The use of multisensor system (MSS) plays a key role in engineering geodesy. Because of the complexity of tasks such as industrial applications with high accuracy requirements for heterogeneous and efficient three-dimensional (3D) data acquisition, kinematic MSS are often used. Traditionally, these MSS are composed of referencing sensors and object-capturing sensors. The crucial point in a MSS setup is the determination of the mutual position and orientation [six degrees of freedom (6 DOF)] of each sensor. Within this contribution, a possibility for the determination of the 6 DOF of light detection and ranging (LiDAR) sensors in MSS is introduced. The presented approach is generally applicable and allows the 6 DOF determination of profile laser scanners. The 6 DOF and their uncertainty measures are estimated within an adjustment model by utilizing known reference geometries (RFGs). The approach is especially of interest when sensor origins are not physically available and measurable. It is generally applicable in a static or kinematic measurement environment. As an example, the approach is applied in an industrial environment with accuracy requirements of a few millimeters. The used MSS consists of a terrestrial laser scanner (object capturing) and a laser tracker (referencing). The linking component is a tracker-machine control sensor, which is attached to the laser scanner. More precisely, 6 DOF between the tracker-machine control sensor and the origin of the laser scanner have to be determined. Depending on the required accuracy of the 3D object acquisition, the determination of the 6 DOF must fulfill high accuracy requirements. Finally, the results and the accuracy of the 6 DOF determination are shown and validated with a static calibration procedure.

KW - Calibration

KW - Industrial surveying

KW - Mobile mapping

KW - Multisensor system

KW - Six degrees of freedom (6 DOF) determination

UR - http://www.scopus.com/inward/record.url?scp=85103494229&partnerID=8YFLogxK

U2 - 10.1061/(ASCE)SU.1943-5428.0000226

DO - 10.1061/(ASCE)SU.1943-5428.0000226

M3 - Article

VL - 143

JO - Journal of Surveying Engineering, - ASCE

JF - Journal of Surveying Engineering, - ASCE

SN - 0733-9453

IS - 4

M1 - 04017012

ER -