Calibration of vessel mounted LiDAR

Nicolas Seube, Alan Picard, Thomas Touzé, Jean-Guy Nistad, Mathieu Rondeau

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This paper investigates the problem of latency estimation between an IMU (Inertial Motion Unit) and a LiDAR (Light Detection And Ranging). The latency is due to the IMU itself, but also to the acquisition software and hardware configuration, which is generally set-up by survey systems users. We propose a method for latency estimation, and we show that this method meets the accuracy requirements of most LiDAR survey applications. We present test results of our method on various acquisition systems and hardware configuration which demonstrate that it is able to identify very accurately the total latency through a simple procedure. Our method does not require any positioning device, therefore it is independent of non modeled errors which may corrupt geolocalized data. Our method enable the user to estimate any LiDAR-IMU latency, in order to to optimize the configuration of a kinematic survey system and to enhance its robustness features with respect to high motion dynamics. We also propose a new boresight angle calibration method between LiDAR and IMU, and we estimate its accuracy and precision. As these two methods do not need any positioning data, they avoid the propagation of GPS errors into the calibration procedure.
Original languageEnglish
Title of host publicationHydro12 Conference Proceedings
Subtitle of host publication13-15 November 2012, Rotterdam - Taking care of the sea
EditorsLeendert Dorst, Thaiënne van Dijk, Rob van Ree, Joost Boers, Wilbert Brink, Niels Kinneging, Vera van Lancker, Alain de Wulf, Harm Nolte
Place of PublicationDeinze
PublisherHydrographic Society Benelux
Number of pages12
ISBN (Print)978-90-365-3470-3
Publication statusPublished - 2012
Externally publishedYes
EventHydro12 - Taking care of the sea - Rotterdam, Netherlands
Duration: 12 Nov 201215 Nov 2012


ConferenceHydro12 - Taking care of the sea


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