Ein objektraumbasierter und durch Referenzmessungen gestützter Kalibrierprozess für ein k-TLS-basiertes Multi-Sensor-System

authored by
Jens Hartmann, Lars Marschel, Alexander Dorndorf, Jens-André Paffenholz

Kinematic terrestrial laser scanning (k-TLS) is a suitable methodology to capture complex objects as well as objects with large longitudinal dimensions. In this contribution a k-TLS-based multi-sensor-system (MSS), consisting of a laser tracker in combination with a tracker machine control sensor (T-Mac) for a high accurate (sub-millimeter) and high-frequent (up to 1 kHz) geo referencing, is introduced. This process can also be denoted as spatial six Degrees of Freedom (6DOF) positioning. With the laser tracker a reference point field of the T-Mac, which is adapted to the laser scanner, is measured. The coordinate system of the T-Mac is shifted and distorted in three dimensions with respect to the coordinate system of the laser scanner. The process of determining the relative orientation is called (6DOF) calibration. One way to determine the 6DOF (three translations and three rotations) with high accuracy is to measure reference geometries, by the laser tracker and the laser scanner. This calibration method based on reference geometries was first published by /Strübing & Neumann 2013/.Within this paper we present a variant to determine four (two translations + two rotations) of 6DOF, without the usage of reference geometries. As a constraint a circular path of the T-Mac, which is mounted on the laser scanner, is introduced. The advantage hereby is, that only the highly accurate laser tracker measurements are included in the adjustment model. Furthermore, the workload (currently 4 - 5 hours) for the arrangement of the reference geometries can be reduced. That means the calibration process will be more efficient. The achieved accuracies of 6DOF are in sub-millimeter range for the translations and in the range of a few mgon for rotations.

Geodetic Institute
AVN Allgemeine Vermessungs-Nachrichten
No. of pages
Publication date
Publication status
Peer reviewed
ASJC Scopus subject areas
Geography, Planning and Development, Earth and Planetary Sciences (miscellaneous), Civil and Structural Engineering

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