Design and Implementation of Vehicle Laser Scanner’s External Parameter Calibration

Abstract:

This paper proposes a method to calibrate the location and gesture of laser scanner in a mobile mapping system. Firstly, vehicle and laser scanner coordinate systems were defined to simplify the calibration of the scanner as the calculation of transformation parameters. Secondly, a total station was taken to observe the coordinates of common points which consist of center of standard target ball and feature point of the scanner. With the help of the observed coordinates in a horizontal coordinate system, the transformation parameters of the vehicle and scanner coordinate systems were figured out. Finally, the method was proven to be good in repeatability through multiple experiments. The reliability is also be proven by the process of data collected on Yixian elevated road with the mobile mapping system.