jb lacambre - Academia.edu (original) (raw)
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Papers by jb lacambre
OCEANS 2015 - MTS/IEEE Washington, 2015
ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2014
This paper presents a new INS-LiDAR bore-sighting parameters calibration method that differs from... more This paper presents a new INS-LiDAR bore-sighting parameters calibration method that differs from traditional methods on two main aspects. First, the method is static, which avoids being affected by GPS errors and enables the extraction of scanlines. For terrestrial laser scanning, this aspect is extremely important since ranges are short and the GPS errors are the first source of error during the calibration process. Second, the method is based on a rigorous mathematical model, which allows providing reliable boresight quality factors. After presenting the boresight determination problem, this paper will introduce the existing calibration procedures. Then, it will describe the new procedure and explain how it overcomes the limitations of the traditional approaches. Finally, some results from both simulations and real datasets are presented to illustrate our approach.
ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences, 2013
Mobile laser scanning are likely to find more and more applications for high density 3D environme... more Mobile laser scanning are likely to find more and more applications for high density 3D environmental data. A mobile laser scanning system is composed by three subsystems: a GNSS (Global Navigation Satellite System) that provides position information, an INS (Inertial Navigation System) for attitude determination, and a LiDAR (Light Detection And Ranging). The accuracy of the geolocated LiDAR returns depends on the accuracy of each instrument but also on the bore-sighting parameters and the lever arms between the instruments. Indeed, an imperfect calibration may lead to systematic errors. Calibration may then become the limiting factor of Terrestrial Laser scanning if it is not tackled seriously. Moreover [Ø], it is important to have a reliable value of the calibration precision. This paper presents a new positioning free procedure for the estimation of the LiDAR bore-sighting parameters. Since this method is static, lever arms do not affect the boresight calibration and positioning is not required. That makes the methodology immune to GPS errors. Finally, since it is based on a rigorous mathematical model, it can provide a reliable boresight quality factor. First, the boresight determination problem is explained and existing calibration procedures are introduced. After having explained their drawbacks, a new procedure that tries to overcome these limitations is described. Tests from simulations and real datasets are also presented to illustrate our approach.
2013 IEEE Digital Signal Processing and Signal Processing Education Meeting (DSP/SPE), 2013
OCEANS 2015 - MTS/IEEE Washington, 2015
ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2014
This paper presents a new INS-LiDAR bore-sighting parameters calibration method that differs from... more This paper presents a new INS-LiDAR bore-sighting parameters calibration method that differs from traditional methods on two main aspects. First, the method is static, which avoids being affected by GPS errors and enables the extraction of scanlines. For terrestrial laser scanning, this aspect is extremely important since ranges are short and the GPS errors are the first source of error during the calibration process. Second, the method is based on a rigorous mathematical model, which allows providing reliable boresight quality factors. After presenting the boresight determination problem, this paper will introduce the existing calibration procedures. Then, it will describe the new procedure and explain how it overcomes the limitations of the traditional approaches. Finally, some results from both simulations and real datasets are presented to illustrate our approach.
ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences, 2013
Mobile laser scanning are likely to find more and more applications for high density 3D environme... more Mobile laser scanning are likely to find more and more applications for high density 3D environmental data. A mobile laser scanning system is composed by three subsystems: a GNSS (Global Navigation Satellite System) that provides position information, an INS (Inertial Navigation System) for attitude determination, and a LiDAR (Light Detection And Ranging). The accuracy of the geolocated LiDAR returns depends on the accuracy of each instrument but also on the bore-sighting parameters and the lever arms between the instruments. Indeed, an imperfect calibration may lead to systematic errors. Calibration may then become the limiting factor of Terrestrial Laser scanning if it is not tackled seriously. Moreover [Ø], it is important to have a reliable value of the calibration precision. This paper presents a new positioning free procedure for the estimation of the LiDAR bore-sighting parameters. Since this method is static, lever arms do not affect the boresight calibration and positioning is not required. That makes the methodology immune to GPS errors. Finally, since it is based on a rigorous mathematical model, it can provide a reliable boresight quality factor. First, the boresight determination problem is explained and existing calibration procedures are introduced. After having explained their drawbacks, a new procedure that tries to overcome these limitations is described. Tests from simulations and real datasets are also presented to illustrate our approach.
2013 IEEE Digital Signal Processing and Signal Processing Education Meeting (DSP/SPE), 2013