A Self-Calibration Method for Boresight Error of Mobile Mapping System

Abstract

The boresight error is one of the main error sources of the Mobile Mapping System(MMS), which directly affects the overall accuracy and quality of the laser point cloud. Unideal boresight error estimation seriously reduces the point cloud registration accuracy. When there is a feature place in the laser point cloud, the boresight error will cause the feature plane to deviate from the real plane. In order to solve the above problems, a visual axis calibration method for a mobile surveying and mapping system based on known feature planes is proposed. According to the plane features of 3D scene, the Gauss-Helmert adjustment model is established, and the normal equation for calculating the boresight error is derived. This is a simple and reliable calibration method.