TY - JOUR
T1 - Using Weighted Total Least Squares and 3-D Conformal Coordinate Transformation to Improve the Accuracy of Mobile Laser Scanning
AU - Liu, Wi
AU - Li, Zhixiong
AU - Li, Yunwang
AU - Sun, Shuaishuai
AU - Sotelo, Miguel Angel
N1 - Funding Information:
Manuscript received December 24, 2017; revised June 21, 2018, December 6, 2018, and June 3, 2019; accepted August 12, 2019. Date of publication September 10, 2019; date of current version December 27, 2019. This work was supported in part by the National Key R&D Program of China under Grant 2018YFC0604503, in part by the National Natural Science Foundation of China under Grant U1610251, Grant 51675518, Grant 51974290, and Grant 5197090691, in part by the Taishan Scholar under Grant tsqn201812025, and in part by the Priority Academic Program Development (PAPD) of Jiangsu Higher Education Institutions. (Corresponding author: Zhixiong Li.) W. Liu and Y. Li are with the School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China, and also with the Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou 210008, China (e-mail: wliucumt@126.com; yunwangli@cumt.edu.cn).
Publisher Copyright:
© 2019 IEEE.
PY - 2020/1
Y1 - 2020/1
N2 - With the aid of global position system (GPS), mobile laser scanning (MLS) is able to provide 3-D geo-referenced point cloud that has centimeter-level accuracy. The MLS accuracy, however, degrades significantly due to the trajectory errors of the laser scanner and the residual systematic errors from the geo-referencing transformation process in the GPS-free environments. To solve this problem, this article presents a novel integration algorithm based on the weighted total least squares (WTLS) and the 3-D conformal coordinate transformation (3DCCT). In this new method, the 3-D point measurement model and the error propagation parameter vector in the MLS can be updated in real-time, and they can also adjust the geo-referenced coordinate transformation parameters and eliminate the influences of the residual systematic errors during MLS. In this article, the MLS mathematical model is first established, followed up by a detailed analysis for MLS error budget interpreting the effects of the individual error sources. Second, WTLS is used to correct the 3-D point measurement model of MLS and the error of propagation parameter vector; 3DCCT, WTLS, and ground control target feature constraints are applied to eliminate the residual systematic errors in the geo-referencing transformation process. Finally, several data sets from outdoor scenarios are used to evaluate and validate the proposed method. The experimental results demonstrate that the proposed method can significantly improve the overall accuracy of the MLS system.
AB - With the aid of global position system (GPS), mobile laser scanning (MLS) is able to provide 3-D geo-referenced point cloud that has centimeter-level accuracy. The MLS accuracy, however, degrades significantly due to the trajectory errors of the laser scanner and the residual systematic errors from the geo-referencing transformation process in the GPS-free environments. To solve this problem, this article presents a novel integration algorithm based on the weighted total least squares (WTLS) and the 3-D conformal coordinate transformation (3DCCT). In this new method, the 3-D point measurement model and the error propagation parameter vector in the MLS can be updated in real-time, and they can also adjust the geo-referenced coordinate transformation parameters and eliminate the influences of the residual systematic errors during MLS. In this article, the MLS mathematical model is first established, followed up by a detailed analysis for MLS error budget interpreting the effects of the individual error sources. Second, WTLS is used to correct the 3-D point measurement model of MLS and the error of propagation parameter vector; 3DCCT, WTLS, and ground control target feature constraints are applied to eliminate the residual systematic errors in the geo-referencing transformation process. Finally, several data sets from outdoor scenarios are used to evaluate and validate the proposed method. The experimental results demonstrate that the proposed method can significantly improve the overall accuracy of the MLS system.
KW - 3-D conformal coordinate transformation (3DCCT)
KW - mobile laser scanning (MLS)
KW - weighted total least squares (WTLS)
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U2 - 10.1109/TGRS.2019.2935744
DO - 10.1109/TGRS.2019.2935744
M3 - Article
AN - SCOPUS:85077962966
VL - 58
SP - 203
EP - 217
JO - IEEE Transactions on Geoscience and Remote Sensing
JF - IEEE Transactions on Geoscience and Remote Sensing
SN - 0196-2892
IS - 1
M1 - 8830458
ER -