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Automatic Extrinsic Self-Calibration of Mobile Mapping Systems Based on Geometric 3D Features

Hillemann, Markus ORCID iD icon 1; Weinmann, Martin 1; Mueller, Markus S. 1; Jutzi, Boris ORCID iD icon 1
1 Institut für Photogrammetrie und Fernerkundung (IPF), Karlsruher Institut für Technologie (KIT)


Mobile Mapping is an efficient technology to acquire spatial data of the environment. The spatial data is fundamental for applications in crisis management, civil engineering or autonomous driving. The extrinsic calibration of the Mobile Mapping System is a decisive factor that affects the quality of the spatial data. Many existing extrinsic calibration approaches require the use of artificial targets in a time-consuming calibration procedure. Moreover, they are usually designed for a specific combination of sensors and are, thus, not universally applicable. We introduce a novel extrinsic self-calibration algorithm, which is fully automatic and completely data-driven. The fundamental assumption of the self-calibration is that the calibration parameters are estimated the best when the derived point cloud represents the real physical circumstances the best. The cost function we use to evaluate this is based on geometric features which rely on the 3D structure tensor derived from the local neighborhood of each point. We compare different cost functions based on geometric features and a cost function based on the Rényi quadratic entropy to evaluate the suitability for the self-calibration. ... mehr

Verlagsausgabe §
DOI: 10.5445/IR/1000098381
Veröffentlicht am 20.09.2019
DOI: 10.3390/rs11161955
Zitationen: 24
Web of Science
Zitationen: 21
Zitationen: 21
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Photogrammetrie und Fernerkundung (IPF)
KIT-Zentrum Klima und Umwelt (ZKU)
Publikationstyp Zeitschriftenaufsatz
Publikationsjahr 2019
Sprache Englisch
Identifikator ISSN: 2072-4292
KITopen-ID: 1000098381
Erschienen in Remote sensing
Verlag MDPI
Band 11
Heft 16
Seiten Article: 1955
Bemerkung zur Veröffentlichung Gefördert durch den KIT-Publikationsfonds
Vorab online veröffentlicht am 20.08.2019
Schlagwörter mobile mapping; laser scanning; self-calibration; 3D point clouds; geometric features
Nachgewiesen in Web of Science
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