[{"data":1,"prerenderedAt":256},["ShallowReactive",2],{"method-glennie2012hdl64":3},{"method":4,"reference":48,"equipment":66,"figures":97,"results":98},{"id":5,"label":6,"shortName":7,"title":8,"year":9,"era":10,"cluster":11,"scope":12,"keyIdeaZh":13,"keyIdeaEn":14,"fulltextStatus":15,"publicationStatus":16,"recommendation":17,"constructionRelevance":18,"validationEnvironment":19,"strengths":21,"limitations":26,"sensors":32,"platform":36,"estimator":38,"association":39,"timeModel":40,"deskew":41,"loopClosure":40,"globalOptimization":42,"mapRepresentation":40,"prior":43,"outputGeometry":44,"compute":40,"codeUrl":45,"codeLicense":46,"relatedVersions":47},"glennie2012hdl64","Glennie, 2012","HDL-64E S2 calibration","Calibration and Kinematic Analysis of the Velodyne HDL-64E S2 Lidar Sensor",2012,"classic","C13","sensing_calibration_sync_preprocessing","作者以平面特徵約束的 Gauss-Helmert 最小二乘法，在車載動態資料中同時估計 Velodyne HDL-64E S2 的視準角、槓桿臂與每顆雷射的內部校正參數。資料取自 2010 年在德州 The Woodlands 停車場以原型車載系統（IMAR AirSurv-RQH IMU、Novatel OEM-4 GPS）多次通過所得，萃取 75 個約 4 m² 的平面。可觀測性分析顯示各雷射水平旋轉修正與航向視準角近乎完全相關、z 向槓桿臂幾乎不可觀測、水平與垂直偏移也高度相關，因此移出估計。縮減參數後，平面閉合差 RMSE 由僅做視準校正的 0.047 m 降至 0.034 m（加入靜態校正的水平旋轉修正後為 0.030 m）；限 25 m 內時由 0.037 m 降至 0.025 m，接近 Riegl LMS-Q120i 的 0.020 m，但不及 VZ-400 的 0.013 m。","In-situ kinematic calibration of the HDL-64E S2 by planar-constrained Gauss-Helmert adjustment of boresight, lever arm and per-laser parameters; several parameters prove unobservable, and the reduced model cuts planar misclosure RMSE by about 30% (0.047 to 0.034 m; 0.025 m within 25 m).","full_text_reviewed","peer_reviewed_published","background","not_reported",[20],"controlled_experiment",[22,23,24,25],"Full kinematic calibration lowered overall planar misclosure RMSE from 0.047 m (boresight only) to 0.034 m, and to 0.030 m with the static horizontal rotation correction (Table 4)","Within 25 m range, RMSE fell from 0.037 m to 0.025 m (0.023 m with static correction), close to the Riegl LMS-Q120i at 0.020 m (Tables 5, 7)","Removing returns with incidence angle above 70 deg lowered RMSE from 0.030 m to 0.022 m (Comparison section)","Variance factor 0.69; roll and yaw estimated better than IMU attitude noise, distance offset to about a quarter of the ranging noise (Table 3)",[27,28,29,30,31],"Per-laser horizontal rotation corrections are almost perfectly correlated with the heading boresight (above 0.9) and cannot be estimated kinematically (Observability section)","The z lever arm is very weakly observable with only four plane orientations (Observability section)","Horizontal and vertical offsets correlate about 0.9 with the rotation corrections and are held at factory values (Observability section)","Systematic residuals remain, mostly at high incidence angles; a second-order range term may be needed and range offset may drift with temperature (Comparison; Summary)","Single calibration dataset from one site and day (inference from the Experimental Description; not stated as a limitation by the author)",[33,34,35],"3D LiDAR (Velodyne HDL-64E S2)","IMU (IMAR AirSurv-RQH, navigation grade)","GNSS (Novatel OEM-4 dual-frequency GPS receiver)",[37],"vehicle-mounted prototype mobile scanning platform (Fig. 2), multiple passes through an open parking lot in The Woodlands, Texas, on 23 March 2010","planar-feature-conditioned combined (Gauss-Helmert) least-squares adjustment estimating boresight angles, lever arm and per-laser interior parameters together with plane coefficients; after observability analysis the per-laser horizontal rotation corrections, horizontal and vertical offsets and the z lever arm were removed, leaving roll, pitch, yaw, horizontal lever arm and three parameters per laser","semi-automatic extraction of 75 planar surfaces of about 4 m2 each (mostly horizontal or vertical, about 15 near 45 deg), thinned to about 750 returns per plane at 5 to 100 m range","not_applicable","implicit: each return is georeferenced with the GNSS\u002FINS pose at its own measurement time (Eq. 1); no separate deskew step","none","smoothed best estimate of trajectory from tightly coupled GPS\u002FINS processing (forward and reverse separation below 2 cm, at least 8 satellites); Velodyne factory calibration as initial model; factory horizontal and vertical offsets held fixed; in one variant horizontal rotation corrections taken from a static calibration","kinematic interior calibration and boresight parameters with their precision, and planar misclosure statistics of the georeferenced point cloud",null,"not_verified",[],{"id":5,"kind":49,"shortName":7,"title":8,"authors":50,"year":9,"venue":52,"venueType":53,"publisher":54,"volumeIssuePages":55,"doi":56,"arxivId":45,"url":57,"firstPublicDate":58,"publicationStatus":16,"metadataStatus":59,"fulltextStatus":15,"era":10,"classicReason":60,"codeUrl":45,"cluster":11,"topics":61,"mdpi":62,"verification":63,"label":6,"fulltextRoute":64,"versionRead":65,"addedByCensus":62},"component",[51],"Craig Glennie","Photogrammetric Engineering & Remote Sensing","journal","American Society for Photogrammetry and Remote Sensing","78(4), pp. 339-347","10.14358\u002Fpers.78.4.339","https:\u002F\u002Fdoi.org\u002F10.14358\u002FPERS.78.4.339","2012-04-01","metadata_verified","evaluation-calibration method: intrinsic calibration and kinematic analysis of a multi-beam spinning LiDAR widely used in mobile mapping; non-MDPI alternative for multi-beam calibration evidence.",[11],false,"confirmed","NTU institutional (Chrome)","Version of record, PE&RS 78(4):339-347 (April 2012), 9-page PDF from IngentaConnect delivered in the NTU session; the Ingenta page labels the article CC BY-NC-ND 4.0 while the PDF prints © 2012 ASPRS",[67,74,79,84,89,94],{"category":68,"model":69,"canonical":70,"role":71,"dataset":45,"specs":72,"locator":73},"lidar","Velodyne HDL-64E S2","Velodyne HDL-64E","method input","64 lasers; 360 deg by 26.8 deg FOV; range 50 m (10% reflectivity) and 120 m (80%); 1.5 cm range precision (1 sigma); 0.09 deg azimuth resolution; 1,333,333 measurements per second; 905 nm, 5 ns pulse, 2.0 mrad beam divergence; head up to 900 rpm (Table 6 lists 20 mm range accuracy)","Introduction; Table 1; Table 6",{"category":75,"model":76,"canonical":76,"role":71,"dataset":45,"specs":77,"locator":78},"imu","IMAR AirSurv-RQH","navigation grade; expected attitude noise about 0.005 deg roll and pitch, 0.01 deg yaw","Experimental Description; Accuracy of Parameter Estimates",{"category":80,"model":81,"canonical":81,"role":71,"dataset":45,"specs":82,"locator":83},"gnss","Novatel OEM-4","dual-frequency GPS receiver; at least eight satellites tracked; tightly coupled forward and reverse processing with separation below 2 cm","Experimental Description",{"category":85,"model":86,"canonical":86,"role":71,"dataset":45,"specs":87,"locator":88},"platform","prototype mobile scanning platform (vehicle; model not reported)","carries the HDL-64E S2, IMU and GPS receiver with raw data logging","Experimental Description; Fig. 2",{"category":68,"model":90,"canonical":90,"role":91,"dataset":45,"specs":92,"locator":93},"Riegl LMS-Q120i","compared device","range accuracy 15 mm, beam divergence 2.7 mrad, angular resolution 0.01 deg, 10,000 Hz; same platform and trajectory, boresight-only adjustment","Table 6; Table 7",{"category":68,"model":95,"canonical":95,"role":91,"dataset":45,"specs":96,"locator":93},"Riegl VZ-400","range accuracy 5 mm, beam divergence 0.3 mrad, angular resolution 0.0005 deg, 125,000 Hz; same platform and trajectory, boresight-only adjustment",[],{"totalRows":99,"groupCount":100,"groups":101,"others":255},15,4,[102,159,199,231],{"slug":103,"group":104,"sourceId":5,"sourceLabel":6,"table":105,"selfRows":106,"metrics":107,"seqs":117,"entrants":122,"cells":130,"outcomes":153,"locators":154,"hardware":155,"wordings":156,"notes":157},"glennie2012hdl64-table-4","glennie2012hdl64:Table 4","Table 4",6,[108,112,115],{"label":109,"unit":110,"statistic":111,"alignment":42},"RMSE planar misclosure","m","RMSE",{"label":113,"unit":110,"statistic":114,"alignment":42},"Maximum planar misclosure","max",{"label":116,"unit":110,"statistic":18,"alignment":42},"Minimum planar misclosure",[118],{"dataset":119,"sequence":120,"environment":121},"authors' parking-lot calibration dataset (23 March 2010)","all ranges","open parking lot surrounded by buildings",[123,125,128],{"name":124,"methodId":45,"linkable":62,"proposed":62,"self":62},"Global boresight only",{"name":126,"methodId":5,"linkable":127,"proposed":127,"self":127},"Kinematic Calibration",true,{"name":129,"methodId":5,"linkable":127,"proposed":127,"self":127},"Kinematic Calibration with H_o^i from Static Analysis (text: horizontal rotation correction from static calibration)",[131,135,138,141,143,145,147,149,151],[132,132,132,133,134,132,134,134,132],0,0.047,-1,[136,132,132,137,134,132,134,134,132],1,0.034,[139,132,132,140,134,132,134,134,132],2,0.03,[132,136,132,142,134,132,134,134,132],0.237,[136,136,132,144,134,132,134,134,132],0.169,[139,136,132,146,134,132,134,134,132],0.148,[132,139,132,148,134,132,134,134,132],-0.25,[136,139,132,150,134,132,134,134,132],-0.171,[139,139,132,152,134,132,134,134,132],-0.143,[],[105],[],[],[158],"Planar misclosure over 75 planes (about 750 returns each, 5 to 100 m range) from one kinematic dataset; columns: factory interior calibration with global boresight only, full kinematic calibration, kinematic calibration with static horizontal correction",{"slug":160,"group":161,"sourceId":5,"sourceLabel":6,"table":162,"selfRows":106,"metrics":163,"seqs":167,"entrants":170,"cells":174,"outcomes":193,"locators":194,"hardware":195,"wordings":196,"notes":197},"glennie2012hdl64-table-5","glennie2012hdl64:Table 5","Table 5",[164,165,166],{"label":109,"unit":110,"statistic":111,"alignment":42},{"label":113,"unit":110,"statistic":114,"alignment":42},{"label":116,"unit":110,"statistic":18,"alignment":42},[168],{"dataset":119,"sequence":169,"environment":121},"range limited to 25 m",[171,172,173],{"name":124,"methodId":45,"linkable":62,"proposed":62,"self":62},{"name":126,"methodId":5,"linkable":127,"proposed":127,"self":127},{"name":129,"methodId":5,"linkable":127,"proposed":127,"self":127},[175,177,179,181,183,185,187,189,191],[132,132,132,176,134,132,134,134,132],0.037,[136,132,132,178,134,132,134,134,132],0.025,[139,132,132,180,134,132,134,134,132],0.023,[132,136,132,182,134,132,134,134,132],0.234,[136,136,132,184,134,132,134,134,132],0.165,[139,136,132,186,134,132,134,134,132],0.144,[132,139,132,188,134,132,134,134,132],-0.191,[136,139,132,190,134,132,134,134,132],-0.168,[139,139,132,192,134,132,134,134,132],-0.138,[],[162],[],[],[198],"Same planar misclosure statistics as Table 4 but limited to points within 25 m of the scanner",{"slug":200,"group":201,"sourceId":5,"sourceLabel":6,"table":202,"selfRows":139,"metrics":203,"seqs":205,"entrants":208,"cells":217,"outcomes":225,"locators":226,"hardware":227,"wordings":228,"notes":229},"glennie2012hdl64-table-7","glennie2012hdl64:Table 7","Table 7",[204],{"label":111,"unit":110,"statistic":111,"alignment":42},[206],{"dataset":207,"sequence":169,"environment":121},"authors' parking-lot calibration datasets",[209,211,213,215],{"name":210,"methodId":5,"linkable":127,"proposed":127,"self":127},"Velodyne Kinematic Calibration",{"name":212,"methodId":5,"linkable":127,"proposed":127,"self":127},"Velodyne Kinematic Calibration H From Static Calibration",{"name":214,"methodId":45,"linkable":62,"proposed":62,"self":62},"Riegl LMS-Q120i (boresight only)",{"name":216,"methodId":45,"linkable":62,"proposed":62,"self":62},"Riegl VZ-400 (boresight only)",[218,219,220,222],[132,132,132,178,134,132,134,134,132],[136,132,132,180,134,132,134,134,132],[139,132,132,221,134,132,134,134,132],0.02,[223,132,132,224,134,132,134,134,132],3,0.013,[],[202],[],[],[230],"Planar RMSE residuals for points within 25 m; Riegl datasets collected at other times on the same platform, trajectory and similar GPS constellation, with global boresight adjustment only",{"slug":232,"group":233,"sourceId":5,"sourceLabel":6,"table":234,"selfRows":136,"metrics":235,"seqs":238,"entrants":241,"cells":244,"outcomes":247,"locators":249,"hardware":251,"wordings":252,"notes":253},"glennie2012hdl64-text-comparison-section","glennie2012hdl64:Text Comparison section","Text Comparison section",[236],{"label":237,"unit":110,"statistic":111,"alignment":42},"overall RMS planar misclosure",[239],{"dataset":119,"sequence":240,"environment":121},"all ranges, incidence angle 70 deg or less",[242],{"name":243,"methodId":5,"linkable":127,"proposed":127,"self":127},"Kinematic calibration with static horizontal correction, high-incidence points removed",[245],[132,132,132,246,132,132,134,134,132],0.022,[248],"reduced from 0.030 m (almost 30%)",[250],"Comparison of Velodyne with Other Mobile Scanners",[],[],[254],"Effect of removing returns with incidence angle above 70 deg on the overall planar misclosure (all ranges, full calibration with static correction)",[],1790510662778]