{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T15:03:27Z","timestamp":1773155007216,"version":"3.50.1"},"reference-count":10,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2011,3,14]],"date-time":"2011-03-14T00:00:00Z","timestamp":1300060800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>The temporal stability and static calibration and analysis of the Velodyne HDL\u201164E S2 scanning LiDAR system is discussed and analyzed. The mathematical model for measurements for the HDL-64E S2 scanner is updated to include misalignments between the angular encoder and scanner axis of rotation, which are found to be a marginally significant source of error. It is reported that the horizontal and vertical laser offsets cannot reliably be obtained with the current calibration model due to their high correlation with the horizontal and vertical offsets. By analyzing observations from two separate HDL-64E S2 scanners it was found that the temporal stability of the horizontal angle offset is near the quantization level of the encoder, but the vertical angular offset, distance offset and distance scale are slightly larger than expected. This is felt to be due to long term variations in the scanner range, whose root cause is as of yet unidentified. Nevertheless, a temporally averaged calibration dataset for each of the scanners resulted in a 25% improvement in the 3D planar misclosure residual RMSE over the standard factory calibration model.<\/jats:p>","DOI":"10.3390\/rs3030539","type":"journal-article","created":{"date-parts":[[2011,3,14]],"date-time":"2011-03-14T14:24:25Z","timestamp":1300112665000},"page":"539-553","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":31,"title":["Temporal Stability of the Velodyne HDL-64E S2 Scanner for High Accuracy Scanning Applications"],"prefix":"10.3390","volume":"3","author":[{"given":"Craig","family":"Glennie","sequence":"first","affiliation":[{"name":"Terrapoint USA Inc., 25216 Grogans Park Drive, The Woodlands, TX 77380, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Derek D.","family":"Lichti","sequence":"additional","affiliation":[{"name":"Department of Geomatics Engineering, The University of Calgary, 2500 University Drive NW, Calgary, AB T2N 1N4, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2011,3,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"429","DOI":"10.1038\/nphoton.2010.148","article-title":"Mapping the world in 3D","volume":"4","author":"Schwarz","year":"2010","journal-title":"Nat. Photonics"},{"key":"ref_2","unstructured":"Dunbar, M., and Neuman, M. (GEO: International, 2008). Mobile Mapping and Data Collection, GEO: International."},{"key":"ref_3","unstructured":"Markoff, J. (The New York Times, 2010). Google cars drive themselves, in traffic, The New York Times."},{"key":"ref_4","unstructured":"Topcon Announces IP-S2 HD Mapping System. Available online: http:\/\/www.topconpositioning.com\/news-events\/single\/item\/topcon-announces-ip-s2-hd-mapping-system\/."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1610","DOI":"10.3390\/rs2061610","article-title":"Static calibration and analysis of the Velodyne HDL-64E S2 for high accuracy mobile scanning","volume":"2","author":"Glennie","year":"2010","journal-title":"Remote Sens."},{"key":"ref_6","unstructured":"High Definition LiDAR, Velodyne. Available online: http:\/\/www.velodyne.com\/lidar\/products\/brochure\/HDL64E%20S2%20datasheet_2010_lowres.pdf."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"307","DOI":"10.1016\/j.isprsjprs.2006.10.004","article-title":"Error modeling, calibration and analysis of an AM-CW terrestrial laser scanner system","volume":"61","author":"Lichti","year":"2007","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_8","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 Sensing"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1016\/j.isprsjprs.2006.07.003","article-title":"Rigorous approach to bore-sight self-calibration in airborne laser scanning","volume":"61","author":"Skaloud","year":"2006","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_10","unstructured":"McGlone, J.C., Mikhail, E.M., Bethel, J., and Mullen, R. (2004). Manual of Photogrammetry, American Society of Photogrammetry and Remote Sensing. [5th ed.]."}],"container-title":["Remote Sensing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2072-4292\/3\/3\/539\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:55:31Z","timestamp":1760219731000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2072-4292\/3\/3\/539"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,3,14]]},"references-count":10,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2011,3]]}},"alternative-id":["rs3030539"],"URL":"https:\/\/doi.org\/10.3390\/rs3030539","relation":{},"ISSN":["2072-4292"],"issn-type":[{"value":"2072-4292","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,3,14]]}}}