【摘要】 针对多线地面激光扫描仪因系统误差而影响点云数据精度的问题,从其构造及其工作原理出发,详细分析了多线扫描仪的误差来源,并采用基于平面约束的非线性最小二乘静态自标定模型对仪器的系统误差进行标定。以多线扫描仪VLP-16为例,分别进行了自标定的模拟实验及实测验证。实验结果表明,经过本文方法标定,扫描仪所采集的点云到约束平面距离范围缩小为-2～2 cm。相对于厂家的标称精度3 cm,精度提高了30%以上。此外,本文方法使得标定后整体估计的RMSE提高了20%～30%。更多还原

【Abstract】 To solve the problem of the low accuracy of the multi-line terrestrial laser scanner(TLS) point cloud due to the system errors, this paper analyzes the main sources of instrument system errors in detail based on the working principles and the structure of the multi-line TLS. A planar feature based nonlinear least squares static adjustment approach is used for self-calibration. The multi-line scanner VLP-16 is taken as an example for both the simulation experiments and the real experiments. The experiments results show that the range of the distance from points to the constraint plane is narrow from-2 to 2 cm, and the accuracy of the distance is increased by more than 30% over the standard factory 3 cm by the approach. Furthermore, the methods in this paper make the planar misclosure residual RMSE increased by 20% to 30% after calibration.更多还原