Strategy for Calibration of Multi-Sensor Systems
A comparison of calibration methods to determine the pose of laser scanner in multi-sensor systems.
Mobile mapping systems or multi-sensor systems have nowadays a variety of sensors to determine their position and to detect environments. A common coordinate system is necessary for the data fusion in the position estimator and also for processing of the recorded environment. It can be generated by calibration. Above all, the pose of the laser scanner is demanding with 7 degrees of freedom (3 translational 3 Rotation 1 time). For this task, there are a number of methods that will be discussed. External methods for a measurement of the housing are the simplest. Most methods try to use the sensor data itself, as they are from the coordinate system to be determined. The methods can be divided into field and laboratory procedures. The formulations as an optimization problem of the point cloud are the most complex procedures. The methods are presented and an assessment attempt is made.