Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography (한국측량학회지)

Korean Society of Surveying, Geodesy, Photogrammetry and Cartography (한국측량학회)
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Simulation based Target Geometry Determination Method for Extrinsic Calibration of Multiple 2D Laser Scanning System

다중 2D 레이저 스캐너 시스템의 외부 표정요소 캘리브레이션을 위한 시뮬레이션 기반 표적 배치 결정 기법

  • Ju, Sungha (Dept. of Civil and Environmental Engineering, Yonsei University) ;
  • Yoon, Sanghyun (Dept. of Civil and Environmental Engineering, Yonsei University) ;
  • Park, Sangyoon (Dept. of Civil and Environmental Engineering, Yonsei University) ;
  • Heo, Joon (Dept. of Civil and Environmental Engineering, Yonsei University)
  • Received : 2018.09.12
  • Accepted : 2018.11.13
  • Published : 2018.12.31
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Abstract

Acquiring indoor point cloud, using SLAM (Simultaneous Localization and Mapping) based mobile mapping system, is an element progress for development of as-build BIM (Building Information Model) for the maintenance of the building. In this research we proposed a simulation-based target geometry determination for extrinsic calibration of multiple 2D laser scanning mobile system. Four different types of calibration sites were designed: (1) circle type; (2) rectangle type; (3) double circle type; and (4) double rectangle type. Based on the measurement values obtained from each simulated calibration site geometry, least squares solution based extrinsic calibration was derived. As a result, the rectangle type geometry is most suitable for extrinsic calibration of this system. Also, correlation values between extrinsic calibration parameters were high, and calibration results were distinct according to the calibration sites.

SLAM (Simultaneous Localization and Mapping) 기반 모바일 매핑 시스템을 활용한 실내 공간의 포인트 클라우드 취득은 건축물의 유지, 관리를 위한 as-built BIM (Building Information Model) 구축의 기초 공정이다. 본 연구에서는 다중 2D 레이저 스캐너로 구성된 모바일 매핑 시스템의 구축을 위한 시뮬레이션 기반 검정(calibration) 표적의 구조 결정 방법을 제안하였다. 2D 레이저 스캐너의 외부 표정요소 검정을 위해 (1) 원형, (2) 사각형, (3) 이중 원형, (4) 이중 사각형 형태의 표적을 구성하였다. 시뮬레이션을 통해 얻어진 각 표적 관측 값을 토대로, 최소제곱법 기반의 외부 표정요소 검정을 수행하였다. 그 결과 사각형 형태의 표적 구조가 주어진 시스템의 검정에 가장 적합한 형태임을 확인하였다. 또한 외부 표정요소 간의 높은 상관성을 확인할 수 있었으며, 표적의 구조에 따른 외부 표정요소의 검정 결과가 상이한 것으로 나타났다.

Keywords

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Fig. 1. Laser scanning system for acquiring 3D point cloud

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Fig. 2. Design for coordinate system of multiple 2D laser scanning system (Jung et al., 2015a)

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Fig. 3. Geometries of calibration sites simulation

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Fig. 5. Correlation matrices of simulation based on constrained LESS

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Fig. 4. Correlation matrices of simulation

Table 1. Trace and largest eigenvalue of covariance matrix

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Table 2. Result of deducting extrinsic orientation parameters by constrained LESS (lever-arm)

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Table 3. Result of deducting extrinsic orientation parameters by constrained LESS (Boresight)

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Table 4. Trace and largest eigenvalue of covariance matrix based on constrained least square method

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