[{"data":1,"prerenderedAt":374},["ShallowReactive",2],{"method-lichti2007amcw":3},{"method":4,"reference":49,"equipment":68,"figures":93,"results":94},{"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":22,"limitations":27,"sensors":33,"platform":37,"estimator":39,"association":40,"timeModel":41,"deskew":41,"loopClosure":41,"globalOptimization":42,"mapRepresentation":41,"prior":43,"outputGeometry":44,"compute":45,"codeUrl":46,"codeLicense":47,"relatedVersions":48},"lichti2007amcw","Lichti, 2007","AM-CW TLS error model and self-calibration","Error modelling, calibration and analysis of an AM-CW terrestrial laser scanner system",2007,"classic","C13","sensing_calibration_sync_preprocessing","本文以室內標靶控制網對 Faro 880 調幅連續波（AM-CW）地面雷射掃描儀進行自率定：在自由網最小平方平差中同時估計各站外方位、標靶座標與 17 個附加參數，這些參數描述距離、水平方向與高度角的系統誤差，包含可物理解釋的項目（加常數、週期誤差、視準軸誤差、橫軸誤差、指標差）與由殘差分析找出的經驗項。13 個月內 10 組資料的殘差 RMS 明顯下降，獨立檢核點亦改善；但多數參數隨時間顯著變動，入射角大於約 65 度時距離誤差明顯增大。","Point-based free-network self-calibration of a Faro 880 AM-CW TLS with a 17-term additional-parameter model for range, horizontal direction and elevation angle, plus inclinometer observations and an incidence-angle outlier rule; 10 indoor datasets over 13 months.","full_text_reviewed","peer_reviewed_published","supplementary","未在工地測試。本文顯示 TLS 本身帶有毫米級系統誤差，參數會隨時間、送修與碰撞而變動，且入射角大於約 65 度時距離誤差明顯增大；因此把 TLS 點雲當作 SLAM 點雲的參考資料時，需要考慮掃描儀率定狀態與掃描幾何（推論）。",[20,21],"controlled_experiment","independent_reference",[23,24,25,26],"Mean improvement of self-calibration residual RMS: 47% range, 79% horizontal direction, 59% elevation angle over 10 datasets; pooled RMS fell from 2.5 mm, 112 arcsec, 45 arcsec to 1.3 mm, 20 arcsec, 17 arcsec (Sec. 4.1, Table 1)","Independent check against 45 total-station points (120 observations): RMS x, y, z fell from 2.3, 2.2, 1.1 mm to 1.8, 1.6, 0.6 mm (Table 2)","Inclinometer observations cut the Zs and a2 correlation from 0.89 to 0.12 and de-correlated omega and phi from c0 and a2 despite low inclinometer precision (Sec. 4.5)","Model formulated independently of instrument; e.g. cyclic-error terms are dropped for pulsed rangefinders (Sec. 2.3)",[28,29,30,31,32],"Only b3, b4 and b5 were stable; many APs changed significantly over hours, days and 13 months, and the author cannot tell whether this reflects instrument instability or a pessimistic test (Sec. 4.3, Table 3, Sec. 5)","APs and accuracy metrics are coupled to instrument, target type and target measurement method; empirical terms may stem from the manufacturer's unpublished corrections (Sec. 5)","Range residuals increase markedly above about 65 deg incidence angle, so oblique points are removed a priori (Sec. 4.4, Fig. 12)","Range scale factor not estimated because no independent scale was included in the self-calibration networks (Sec. 2.2.1)","Experiments only in two indoor rooms with ranges of about 1.4 to 10.3 m (reviewer observation from the set-up in Sec. 3.2; not framed as a limitation by the author)",[34,35,36],"terrestrial laser scanner Faro 880 (AM-CW phase-difference rangefinder; formerly iQsun 880)","integrated dual-axis inclinometers of the Faro 880","total station and 900 mm Leica scale bar (independent check-point survey only)",[38],"static tripod-mounted TLS in indoor laboratory rooms (12 x 9 x 3 m and 9 x 5 x 3 m)","free-network least-squares self-calibration with inner constraints on object points, estimating exterior orientation, object-point coordinates and 17 additional parameters simultaneously; group weights by variance component estimation; Baarda data snooping for outliers","signalised planar Faro targets (A4; A5 in calibration 1) measured by iQscene contrast centroiding; spherical observations derived from exported Cartesian coordinates","not_applicable","simultaneous bundle-type adjustment of all scans of a dataset (8 scans: 4 orthogonal scans from each of 2 locations; calibration 10 used 2 scans from 4 locations)","inclinometer observations (omega = phi = 0) when levelling is enabled; exported coordinates already corrected by the manufacturer's unpublished parameters","17 calibrated additional parameters (6 range, 7 horizontal direction, 4 elevation angle) with precisions, plus adjusted target coordinates","offline least-squares adjustment in the author's own software; runtime not reported",null,"not_verified",[],{"id":5,"kind":50,"shortName":7,"title":51,"authors":52,"year":9,"venue":54,"venueType":55,"publisher":56,"volumeIssuePages":57,"doi":58,"arxivId":46,"url":59,"firstPublicDate":60,"publicationStatus":16,"metadataStatus":61,"fulltextStatus":15,"era":10,"classicReason":62,"codeUrl":46,"cluster":11,"topics":63,"mdpi":64,"verification":65,"label":6,"fulltextRoute":66,"versionRead":67,"addedByCensus":64},"component","Error modelling, calibration and analysis of an AM–CW terrestrial laser scanner system",[53],"Derek D. Lichti","ISPRS Journal of Photogrammetry and Remote Sensing","journal","Elsevier","61(5), pp. 307-324","10.1016\u002Fj.isprsjprs.2006.10.004","https:\u002F\u002Fdoi.org\u002F10.1016\u002Fj.isprsjprs.2006.10.004","2006-11-28","metadata_verified","evaluation-calibration-uncertainty method: canonical TLS instrument error modelling and self-calibration reference, relevant when TLS is used as the reference for SLAM point clouds.",[11],false,"confirmed","NTU institutional (Chrome)","Version of record, ISPRS J. Photogramm. Remote Sens. 61(5):307-324 (online 2006-11-28), ScienceDirect HTML full text",[69,75,80,84,90],{"category":70,"model":71,"canonical":71,"role":72,"dataset":46,"specs":73,"locator":74},"tls_scanner","Faro 880","method input","AM-CW phase-difference rangefinder with nominal unit lengths 1.2, 9.6 and 76.8 m; 320 deg vertical and 180 deg horizontal field of view (monogon deflection); 1\u002F4 resolution setting with 0.044 deg angular sampling; manufacturer linearity error \u003C= 3 mm at 10 m; formerly sold as iQsun 880","Sec. 1.1, 3.1, 3.2",{"category":76,"model":77,"canonical":77,"role":72,"dataset":46,"specs":78,"locator":79},"other","two orthogonal inclinometers (built into the Faro 880)","manufacturer accuracy +\u002F-0.01 deg; residual RMS 0.034 deg (calibration 9) and 0.058 deg (calibration 10)","Sec. 3.1, 4.5",{"category":76,"model":81,"canonical":81,"role":72,"dataset":46,"specs":82,"locator":83},"Faro planar targets (A4 and A5 size)","A4 targets on rigid backing on walls, floor and ceiling; A5 only in calibration 1; 62 to 181 targets per dataset","Sec. 3.2, Table 1",{"category":85,"model":86,"canonical":86,"role":87,"dataset":46,"specs":88,"locator":89},"total_station","total station (model not stated)","reference or ground truth","two instrument locations, check points coordinated by intersection; mean point precision +\u002F-0.5 mm horizontal and +\u002F-0.1 mm height","Sec. 4.1",{"category":76,"model":91,"canonical":91,"role":87,"dataset":46,"specs":92,"locator":89},"900 mm Leica scale bar","sigma +\u002F-0.002 mm; scale definition of the check-point network",[],{"totalRows":95,"groupCount":96,"groups":97,"others":373},41,4,[98,261,311,346],{"slug":99,"group":100,"sourceId":5,"sourceLabel":6,"table":101,"selfRows":102,"metrics":103,"seqs":114,"entrants":138,"cells":144,"outcomes":255,"locators":256,"hardware":257,"wordings":258,"notes":259},"lichti2007amcw-table-1","lichti2007amcw:Table 1","Table 1",30,[104,109,112],{"label":105,"unit":106,"statistic":107,"alignment":108},"RMS rho","mm","RMSE","none",{"label":110,"unit":111,"statistic":107,"alignment":108},"RMS theta","arcsec",{"label":113,"unit":111,"statistic":107,"alignment":108},"RMS alpha",[115,119,121,124,126,128,130,132,134,136],{"dataset":116,"sequence":117,"environment":118},"Faro 880 self-calibration datasets","calibration 1 (10 Dec 2004)","indoor lab room 12 x 9 x 3 m",{"dataset":116,"sequence":120,"environment":118},"calibration 2 (31 Mar 2005)",{"dataset":116,"sequence":122,"environment":123},"calibration 3 (7 Jun 2005)","indoor lab room 9 x 5 x 3 m",{"dataset":116,"sequence":125,"environment":123},"calibration 4 (8 Aug 2005)",{"dataset":116,"sequence":127,"environment":123},"calibration 5 (9 Aug 2005)",{"dataset":116,"sequence":129,"environment":123},"calibration 6 (27 Sep 2005)",{"dataset":116,"sequence":131,"environment":123},"calibration 7 (28 Oct 2005, run 1)",{"dataset":116,"sequence":133,"environment":123},"calibration 8 (28 Oct 2005, run 2, selected Faro parameters set to zero)",{"dataset":116,"sequence":135,"environment":118},"calibration 9 (7 Dec 2005)",{"dataset":116,"sequence":137,"environment":118},"calibration 10 (19 Jan 2006)",[139,141],{"name":140,"methodId":46,"linkable":64,"proposed":64,"self":64},"Without APs",{"name":142,"methodId":5,"linkable":143,"proposed":143,"self":143},"With APs",true,[145,149,152,155,157,159,161,164,167,169,172,174,176,178,180,182,184,186,188,190,192,194,196,198,200,202,204,206,208,210,211,213,215,216,217,218,220,222,223,224,226,227,229,230,232,233,234,236,238,239,241,242,243,245,246,248,250,251,252,253],[146,146,146,147,148,146,148,148,146],0,2.4,-1,[146,146,150,151,148,146,148,148,146],1,2.1,[146,146,153,154,148,146,148,148,146],2,2.3,[146,146,156,147,148,146,148,148,146],3,[146,146,96,158,148,146,148,148,146],2.2,[146,146,160,147,148,146,148,148,146],5,[146,146,162,163,148,146,148,148,146],6,2.5,[146,146,165,166,148,146,148,148,146],7,2.7,[146,146,168,154,148,146,148,148,146],8,[146,146,170,171,148,146,148,148,146],9,3.2,[146,150,146,173,148,146,148,148,146],99,[146,150,150,175,148,146,148,148,146],67,[146,150,153,177,148,146,148,148,146],76,[146,150,156,179,148,146,148,148,146],87,[146,150,96,181,148,146,148,148,146],106,[146,150,160,183,148,146,148,148,146],140,[146,150,162,185,148,146,148,148,146],93,[146,150,165,187,148,146,148,148,146],197,[146,150,168,189,148,146,148,148,146],126,[146,150,170,191,148,146,148,148,146],68,[146,153,146,193,148,146,148,148,146],35,[146,153,150,195,148,146,148,148,146],46,[146,153,153,197,148,146,148,148,146],26,[146,153,156,199,148,146,148,148,146],18,[146,153,96,201,148,146,148,148,146],22,[146,153,160,203,148,146,148,148,146],54,[146,153,162,205,148,146,148,148,146],45,[146,153,165,207,148,146,148,148,146],75,[146,153,168,209,148,146,148,148,146],52,[146,153,170,203,148,146,148,148,146],[150,146,146,212,148,146,148,148,146],1.1,[150,146,150,214,148,146,148,148,146],1.2,[150,146,153,212,148,146,148,148,146],[150,146,156,214,148,146,148,148,146],[150,146,96,212,148,146,148,148,146],[150,146,160,219,148,146,148,148,146],1.7,[150,146,162,221,148,146,148,148,146],1.4,[150,146,165,214,148,146,148,148,146],[150,146,168,214,148,146,148,148,146],[150,146,170,225,148,146,148,148,146],1.8,[150,150,146,199,148,146,148,148,146],[150,150,150,228,148,146,148,148,146],12,[150,150,153,199,148,146,148,148,146],[150,150,156,231,148,146,148,148,146],25,[150,150,96,201,148,146,148,148,146],[150,150,160,201,148,146,148,148,146],[150,150,162,235,148,146,148,148,146],19,[150,150,165,237,148,146,148,148,146],17,[150,150,168,197,148,146,148,148,146],[150,150,170,240,148,146,148,148,146],21,[150,153,146,237,148,146,148,148,146],[150,153,150,201,148,146,148,148,146],[150,153,153,244,148,146,148,148,146],14,[150,153,156,228,148,146,148,148,146],[150,153,96,247,148,146,148,148,146],11,[150,153,160,249,148,146,148,148,146],13,[150,153,162,247,148,146,148,148,146],[150,153,165,228,148,146,148,148,146],[150,153,168,244,148,146,148,148,146],[150,153,170,254,148,146,148,148,146],29,[],[101],[],[],[260],"Self-calibration residual RMS per dataset without and with the 17-AP model",{"slug":262,"group":263,"sourceId":5,"sourceLabel":6,"table":264,"selfRows":162,"metrics":265,"seqs":276,"entrants":280,"cells":285,"outcomes":305,"locators":306,"hardware":307,"wordings":308,"notes":309},"lichti2007amcw-table-2","lichti2007amcw:Table 2","Table 2",[266,268,269,270,272,274],{"label":105,"unit":106,"statistic":107,"alignment":267},"control points",{"label":110,"unit":111,"statistic":107,"alignment":267},{"label":113,"unit":111,"statistic":107,"alignment":267},{"label":271,"unit":106,"statistic":107,"alignment":267},"RMS x",{"label":273,"unit":106,"statistic":107,"alignment":267},"RMS y",{"label":275,"unit":106,"statistic":107,"alignment":267},"RMS z",[277],{"dataset":278,"sequence":279,"environment":118},"calibration 9 check points","3 scans",[281,283],{"name":282,"methodId":46,"linkable":64,"proposed":64,"self":64},"Without AP correction",{"name":284,"methodId":5,"linkable":143,"proposed":143,"self":143},"With AP correction",[286,288,290,292,293,294,295,296,298,300,301,303],[146,146,146,287,148,146,148,148,146],2.8,[146,150,146,289,148,146,148,148,146],44,[146,153,146,291,148,146,148,148,146],23,[146,156,146,154,148,146,148,148,146],[146,96,146,158,148,146,148,148,146],[146,160,146,212,148,146,148,148,146],[150,146,146,225,148,146,148,148,146],[150,150,146,297,148,146,148,148,146],31,[150,153,146,299,148,146,148,148,146],16,[150,156,146,225,148,146,148,148,146],[150,96,146,302,148,146,148,148,146],1.6,[150,160,146,304,148,146,148,148,146],0.6,[],[264],[],[],[310],"Independent accuracy check on calibration 9 day: 120 observations of 45 total-station check points from 3 scans; rigid-body transformation with surveyed points as datum",{"slug":312,"group":313,"sourceId":5,"sourceLabel":6,"table":314,"selfRows":156,"metrics":315,"seqs":322,"entrants":327,"cells":330,"outcomes":340,"locators":341,"hardware":342,"wordings":343,"notes":344},"lichti2007amcw-text-sec-4-1","lichti2007amcw:Text Sec. 4.1","Text Sec. 4.1",[316,318,320],{"label":317,"unit":106,"statistic":107,"alignment":108},"overall RMS rho",{"label":319,"unit":111,"statistic":107,"alignment":108},"overall RMS theta",{"label":321,"unit":111,"statistic":107,"alignment":108},"overall RMS alpha",[323],{"dataset":324,"sequence":325,"environment":326},"Faro 880 self-calibration datasets (all 10)","pooled","indoor lab rooms",[328,329],{"name":140,"methodId":46,"linkable":64,"proposed":64,"self":64},{"name":142,"methodId":5,"linkable":143,"proposed":143,"self":143},[331,332,334,335,337,339],[146,146,146,163,148,146,148,148,146],[146,150,146,333,148,146,148,148,146],112,[146,153,146,205,148,146,148,148,146],[150,146,146,336,148,146,148,148,146],1.3,[150,150,146,338,148,146,148,148,146],20,[150,153,146,237,148,146,148,148,146],[],[89],[],[],[345],"Pooled residual RMS over all 10 self-calibration datasets",{"slug":347,"group":348,"sourceId":5,"sourceLabel":6,"table":349,"selfRows":153,"metrics":350,"seqs":354,"entrants":358,"cells":361,"outcomes":366,"locators":367,"hardware":369,"wordings":370,"notes":371},"lichti2007amcw-text-sec-4-5","lichti2007amcw:Text Sec. 4.5","Text Sec. 4.5",[351],{"label":352,"unit":353,"statistic":107,"alignment":108},"RMS of inclinometer residuals","deg",[355,357],{"dataset":135,"sequence":356,"environment":118},"8 scans",{"dataset":137,"sequence":356,"environment":118},[359],{"name":360,"methodId":5,"linkable":143,"proposed":143,"self":143},"Self-calibration with inclinometer observations",[362,364],[146,146,146,363,148,146,148,148,146],0.034,[146,146,150,365,148,146,148,148,146],0.058,[],[368],"Sec. 4.5",[],[],[372],"RMS of the 16 inclinometer orientation-angle residuals (8 omega, 8 phi)",[],1790510663593]