Trajectory estimation with GNSS, IMU, and LiDAR for terrestrial/kinematic laser scanning

Florian Pöppl; Martin Pfennigbauer; Andreas Ullrich; Norbert Pfeifer

doi:10.1117/12.2663454

12 June 2023 Trajectory estimation with GNSS, IMU, and LiDAR for terrestrial/kinematic laser scanning

Florian Pöppl, Martin Pfennigbauer, Andreas Ullrich, Norbert Pfeifer

Proceedings Volume 12537, Laser Radar Technology and Applications XXVIII; 1253706 (2023) https://doi.org/10.1117/12.2663454
Event: SPIE Defense + Commercial Sensing, 2023, Orlando, Florida, United States

Abstract

Kinematic laser scanning allows for efficient acquisition of large-scale and highly accurate 3D data. Georeferencing of the LiDAR data requires integration with auxiliary navigation systems. The standard processing pipeline consists of GNSS/IMU integration, georeferencing, and subsequent adjustment of the laser data. In contrast, we propose a holistic approach for GNSS, IMU and LiDAR integration where all measurements are incorporated in a single model, thereby enabling accurate estimation of both trajectory and system calibration parameters. This method is applied to the case of a 3D laser scanner mounted on a moving platform. We demonstrate precise georeferencing of the kinematically acquired data by comparison to statically acquired reference data.

Conference Presentation

Citation Download Citation

Florian Pöppl, Martin Pfennigbauer, Andreas Ullrich, and Norbert Pfeifer "Trajectory estimation with GNSS, IMU, and LiDAR for terrestrial/kinematic laser scanning", Proc. SPIE 12537, Laser Radar Technology and Applications XXVIII, 1253706 (12 June 2023); https://doi.org/10.1117/12.2663454

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