{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,24]],"date-time":"2025-12-24T12:16:36Z","timestamp":1766578596397,"version":"build-2065373602"},"reference-count":20,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2019,5,7]],"date-time":"2019-05-07T00:00:00Z","timestamp":1557187200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>This paper details a new automatic calibration method for the boresight angles between a LiDAR (Light Detection and Ranging) and an inertial measurement unit (IMU), based on a data selection algorithm, followed by the adjustment of boresight angles. This method, called LiDAR-IMU boresight automatic calibration (LIBAC), takes in input overlapping survey strips following simple line patterns over regular slopes. We first construct a boresight error observability criterion, used to select automatically the most sensitive points to boresight errors. From these points, we adjust the boresight angles. From a statistical analysis of the adjustment results, we derive the boresight angle precision. Results obtained with LIBAC on several LiDAR system integrated within drones are presented. We also give results about the reproducibility of the method.<\/jats:p>","DOI":"10.3390\/rs11091087","type":"journal-article","created":{"date-parts":[[2019,5,9]],"date-time":"2019-05-09T08:19:59Z","timestamp":1557389999000},"page":"1087","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Automatic Data Selection and Boresight Adjustment of LiDAR Systems"],"prefix":"10.3390","volume":"11","author":[{"given":"Rabine","family":"Keyetieu","sequence":"first","affiliation":[{"name":"Geown France, 16 Avenue de l\u2019Europe, 31520 Ramonville St-Agne, France"}]},{"given":"Nicolas","family":"Seube","sequence":"additional","affiliation":[{"name":"Geown Data solutions, 3051 rue du plateau, Vaudreuil-Dorion, QC J7V 8P2, Canada"}]}],"member":"1968","published-online":{"date-parts":[[2019,5,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1235","DOI":"10.14358\/PERS.69.11.1235","article-title":"Recovery of systematic biases in laser altimetry data using natural surfaces","volume":"69","author":"Filin","year":"2003","journal-title":"Photogramm. Eng. Remote Sens."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"874","DOI":"10.3390\/rs2030874","article-title":"Alternative methodologies for lidar system calibration","volume":"2","author":"Habib","year":"2010","journal-title":"Remote Sens."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"85","DOI":"10.1016\/j.isprsjprs.2012.09.001","article-title":"A simple method to recover the latency time of tactical grade IMU systems","volume":"74","author":"Seube","year":"2012","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"unstructured":"Schenk, T. (2001). Modeling and Analyzing Systematic Errors of Airborne Laser Scanners, Department of Civil and Environmental Engineering and Geodetic Science, The Ohio State University. Technic Report.","key":"ref_4"},{"unstructured":"Morin, K., and Naser El-Sheimy, N. (2002, January 19\u201326). Post-mission adjustment methods of airborne laser scanning data. Proceedings of the XXII FIG International Congress, Washington, DC, USA.","key":"ref_5"},{"unstructured":"Burman, H. (2000). Calibration and Orientation of Airborne Image and Laser Scanner Data Using GPS and INS. [Ph.D. Thesis, Royal Institute of Technology Department of Geodesy and Photogrammetry].","key":"ref_6"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1016\/j.isprsjprs.2006.07.003","article-title":"Rigorous approach to boresight self-calibration in airborne laser scanning","volume":"61","author":"Skaloud","year":"2006","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"unstructured":"Friess, P. (2006, January 25\u201327). Toward a Rigorous Methodology for Airborne Laser Mapping. Proceedings of the International Calibration and Validation Workshop EURO COW, Castelldefels, Spain.","key":"ref_8"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"2364","DOI":"10.1109\/TGRS.2011.2171974","article-title":"Simultaneous Calibration of ALS Systems and Alignment of Multiview LiDAR Scans of Urban Areas","volume":"50","author":"Hebel","year":"2012","journal-title":"IEEE Trans. Geosci. Remote Sens."},{"unstructured":"Skaloud, J., and Shaer, P. (2007, January 29\u201331). Towards automated LiDAR boresight self-calibration. Proceedings of the 5th International Symposium on Mobile Mapping Technol, Padova, Italy.","key":"ref_10"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1145\/358669.358692","article-title":"Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography","volume":"24","author":"Fischler","year":"1981","journal-title":"Commun. ACM"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"128","DOI":"10.1016\/j.isprsjprs.2007.07.005","article-title":"Geometric validation of ground-based mobile laser scanning system","volume":"63","author":"Barber","year":"2008","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"unstructured":"Filin, S., and Vosselman, G. (2004, January 12\u201323). Adjustment of airborne laser altimetry strips. Proceedings of the ISPRS 2004 XXth ISPRS Congress: Geo-Imagery Bridging Continents, Istanbul, Turkey.","key":"ref_13"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"1851","DOI":"10.1016\/j.asr.2010.12.015","article-title":"Adjustment of systematic errors in ALS data through surface matching","volume":"47","author":"Kumari","year":"2011","journal-title":"Adv. Space Res."},{"unstructured":"(2008). International Vocabulary of Metrology: Basic and General Concepts and Associated Terms (VIM), Joint Committee for Guides in Metrology (JCGM). [3rd ed.].","key":"ref_15"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/BF00288933","article-title":"Quad Trees: A Data Structure for Retrieval on Composite Keys","volume":"4","author":"Finkel","year":"1974","journal-title":"Acta Inform."},{"unstructured":"Deming, W.E. (1943). Mills, Statistical Adjustment of Data, Wiley.","key":"ref_17"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"135","DOI":"10.1016\/j.apnum.2008.01.001","article-title":"Deming least-squares fits to multiple hyperplanes","volume":"59","author":"Moniot","year":"2009","journal-title":"Appl. Numer. Math."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"78","DOI":"10.1016\/0734-189X(90)90124-E","article-title":"Representation and reognition of surface shapes in range images: A differential geometry approach","volume":"52","author":"Liang","year":"1990","journal-title":"Comput. Vis. Graph. Image Proess."},{"unstructured":"Mikhail, E.M., and Ackerman, F. (1982). Observations and Least Squares, University Press of America.","key":"ref_20"}],"container-title":["Remote Sensing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2072-4292\/11\/9\/1087\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T12:49:50Z","timestamp":1760186990000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2072-4292\/11\/9\/1087"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,5,7]]},"references-count":20,"journal-issue":{"issue":"9","published-online":{"date-parts":[[2019,5]]}},"alternative-id":["rs11091087"],"URL":"https:\/\/doi.org\/10.3390\/rs11091087","relation":{},"ISSN":["2072-4292"],"issn-type":[{"type":"electronic","value":"2072-4292"}],"subject":[],"published":{"date-parts":[[2019,5,7]]}}}