{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,20]],"date-time":"2025-12-20T22:03:37Z","timestamp":1766268217377,"version":"build-2065373602"},"reference-count":68,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2017,2,27]],"date-time":"2017-02-27T00:00:00Z","timestamp":1488153600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Ministry of Public Safety and Security of Korean government","award":["MPSS-SD-2015-41"],"award-info":[{"award-number":["MPSS-SD-2015-41"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper proposes a practical calibration solution for estimating the boresight and lever-arm parameters of the sensors mounted on a Mobile Mapping System (MMS). On our MMS devised for conducting the calibration experiment, three network video cameras, one mobile laser scanner, and one Global Navigation Satellite System (GNSS)\/Inertial Navigation System (INS) were mounted. The geometric relationships between three sensors were solved by the proposed calibration, considering the GNSS\/INS as one unit sensor. Our solution basically uses the point cloud generated by a 3-dimensional (3D) terrestrial laser scanner rather than using conventionally obtained 3D ground control features. With the terrestrial laser scanner, accurate and precise reference data could be produced and the plane features corresponding with the sparse mobile laser scanning data could be determined with high precision. Furthermore, corresponding point features could be extracted from the dense terrestrial laser scanning data and the images captured by the video cameras. The parameters of the boresight and the lever-arm were calculated based on the least squares approach and the precision of the boresight and lever-arm could be achieved by 0.1 degrees and 10 mm, respectively.<\/jats:p>","DOI":"10.3390\/s17030474","type":"journal-article","created":{"date-parts":[[2017,2,27]],"date-time":"2017-02-27T11:00:20Z","timestamp":1488193220000},"page":"474","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":26,"title":["Utilization of a Terrestrial Laser Scanner for the Calibration of Mobile Mapping Systems"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1891-8464","authenticated-orcid":false,"given":"Seunghwan","family":"Hong","sequence":"first","affiliation":[{"name":"School of Civil and Environmental Engineering, Yonsei University, Seodaemun-gu, Seoul 03722, Korea"}]},{"given":"Ilsuk","family":"Park","sequence":"additional","affiliation":[{"name":"School of Civil and Environmental Engineering, Yonsei University, Seodaemun-gu, Seoul 03722, Korea"}]},{"given":"Jisang","family":"Lee","sequence":"additional","affiliation":[{"name":"School of Civil and Environmental Engineering, Yonsei University, Seodaemun-gu, Seoul 03722, Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1305-5820","authenticated-orcid":false,"given":"Kwangyong","family":"Lim","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Yonsei University, Seodaemun-gu, Seoul 03722, Korea"}]},{"given":"Yoonjo","family":"Choi","sequence":"additional","affiliation":[{"name":"School of Civil and Environmental Engineering, Yonsei University, Seodaemun-gu, Seoul 03722, Korea"}]},{"given":"Hong-Gyoo","family":"Sohn","sequence":"additional","affiliation":[{"name":"School of Civil and Environmental Engineering, Yonsei University, Seodaemun-gu, Seoul 03722, Korea"}]}],"member":"1968","published-online":{"date-parts":[[2017,2,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"96","DOI":"10.1061\/(ASCE)SU.1943-5428.0000073","article-title":"Road construction earthwork volume calculation using three-dimensional laser scanning","volume":"138","author":"Slattery","year":"2011","journal-title":"J. Surv. Eng."},{"key":"ref_2","first-page":"43","article-title":"Novel method to determine laser scanner accuracy for applications in civil engineering","volume":"42","author":"Solla","year":"2012","journal-title":"Opt. Appl."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1472","DOI":"10.3390\/rs3071472","article-title":"Evaluation of a lidar land-based mobile mapping system for monitoring sandy coasts","volume":"3","author":"Bitenc","year":"2011","journal-title":"Remote Sens."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Cho, H., Hong, S., Kim, S., Park, H., Park, I., and Sohn, H.-G. (2015). Application of a terrestrial lidar system for elevation mapping in terra nova bay, antarctica. Sensors, 15.","DOI":"10.3390\/s150923514"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Pellenz, J., Lang, D., Neuhaus, F., and Paulus, D. (2010, January 26\u201330). Real-Time 3D mapping of rough terrain: A field report from disaster city. Proceedings of the 2010 IEEE Safety Security and Rescue Robotics, Bremen, Germany.","DOI":"10.1109\/SSRR.2010.5981567"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Gong, J. (2013, January 23\u201325). Mobile lidar data collection and analysis for post-sandy disaster recovery. Proceedings of the 2013 International Workshop of Computing in Civil Engineering, Los Angeles, CA, USA.","DOI":"10.1061\/9780784413029.085"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"829","DOI":"10.1016\/j.autcon.2010.06.007","article-title":"Automatic reconstruction of as-built building information models from laser-scanned point clouds: A review of related techniques","volume":"19","author":"Tang","year":"2010","journal-title":"Autom. Constr."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1016\/j.autcon.2011.05.023","article-title":"Imaged-based verification of as-built documentation of operational buildings","volume":"21","author":"Klein","year":"2012","journal-title":"Autom. Constr."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"835","DOI":"10.1145\/1141911.1141964","article-title":"Photo Tourism: Exploring Photo Collections in 3D","volume":"25","author":"Snavely","year":"2006","journal-title":"ACM trans. Graph."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1108","DOI":"10.1016\/j.jas.2012.08.040","article-title":"Towards a three-dimensional cost-effective registration of the archaeological heritage","volume":"40","author":"Plets","year":"2013","journal-title":"J. Archaeol. Sci."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"1143","DOI":"10.1016\/j.autcon.2011.04.016","article-title":"Evaluation of image-based modeling and laser scanning accuracy for emerging automated performance monitoring techniques","volume":"20","author":"Bohn","year":"2011","journal-title":"Autom. Constr."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1061\/(ASCE)CO.1943-7862.0000565","article-title":"Comparison of image-based and time-of-flight-based technologies for three-dimensional reconstruction of infrastructure","volume":"139","author":"Dai","year":"2013","journal-title":"J. Constr. Eng. Manag."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"1754","DOI":"10.3390\/rs5041754","article-title":"Improved sampling for terrestrial and mobile laser scanner point cloud data","volume":"5","author":"Puttonen","year":"2013","journal-title":"Remote Sens."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"264","DOI":"10.1061\/(ASCE)CP.1943-5487.0000028","article-title":"Terrestrial laser scanning-based structural damage assessment","volume":"24","author":"Olsen","year":"2009","journal-title":"J. Comput. Civil Eng."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"72","DOI":"10.1061\/(ASCE)0733-9453(2007)133:2(72)","article-title":"Modeling terrestrial laser scanner data for precise structural deformation measurement","volume":"133","author":"Gordon","year":"2007","journal-title":"J. Surv. Eng."},{"key":"ref_16","first-page":"10","article-title":"Mobile mapping systems\u2013state of the art and future trends","volume":"35","author":"Schwarz","year":"2004","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_17","unstructured":"Novak, K. (1991, January 10\u201312). The ohio state university highway mapping system: The stereo vision system component. Proceedings of the 47th Annual Meeting of The Institute of Navigation, Williamsburg, VA, USA."},{"key":"ref_18","first-page":"75","article-title":"Mobile mapping technology: Ten years later (part one)","volume":"61","year":"2001","journal-title":"Surv. Land Inf. Syst."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"2935","DOI":"10.3390\/s120302935","article-title":"Sensor integration in a low cost land mobile mapping system","volume":"12","author":"Madeira","year":"2012","journal-title":"Sensors"},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Sairam, N., Nagarajan, S., and Ornitz, S. (2016). Development of mobile mapping system for 3d road asset inventory. Sensors, 16.","DOI":"10.3390\/s16030367"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"514","DOI":"10.1016\/j.isprsjprs.2010.08.002","article-title":"A low-cost multi-sensoral mobile mapping system and its feasibility for tree measurements","volume":"65","author":"Jaakkola","year":"2010","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"5","DOI":"10.1111\/0031-868X.t01-1-00004","article-title":"Development of a low-cost mobile mapping system: A south american experience","volume":"18","author":"Camargo","year":"2003","journal-title":"Photogramm. Record"},{"key":"ref_23","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_24","doi-asserted-by":"crossref","first-page":"112","DOI":"10.1016\/j.isprsjprs.2013.04.005","article-title":"Multi-feature based boresight self-calibration of a terrestrial mobile mapping system","volume":"82","author":"Chan","year":"2013","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"948","DOI":"10.1117\/1.1555732","article-title":"Automatic calibration of low-cost digital cameras","volume":"42","author":"Habib","year":"2003","journal-title":"Opt. Eng."},{"key":"ref_26","first-page":"W11","article-title":"Estimation of interior orientation parameters from constraints on line measurements in a single image","volume":"32","year":"1999","journal-title":"Int. Arch. Photogramm. Remote Sens."},{"key":"ref_27","unstructured":"Sturm, P.F., and Maybank, S.J. (1999, January 23\u201325). On plane-based camera calibration: A general algorithm, singularities, applications. Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Fort Collins, CO, USA."},{"key":"ref_28","unstructured":"Zhang, Z. (1999, January 20\u201327). Flexible camera calibration by viewing a plane from unknown orientations. Proceedings of the Seventh IEEE International Conference on Computer Vision, Kerkyra, Greece."},{"key":"ref_29","unstructured":"Bradski, G., and Kaehler, A. (2008). Learning Opencv: Computer Vision with the Opencv Library, O\u2019Reilly Media, Inc."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Blanchet, G., and Charbit, M. (2015). Digital Signal and Image Processing Using Matlab, Volume 2: Advances and Applications: The Deterministic Case, John Wiley & Sons.","DOI":"10.1002\/9781118999592"},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Cain, C., and Leonessa, A. (2016). Validation of underwater sensor package using feature based slam. Sensors, 16.","DOI":"10.3390\/s16030380"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"6560","DOI":"10.3390\/s150306560","article-title":"New calibration method using low cost mem imus to verify the performance of uav-borne mms payloads","volume":"15","author":"Chiang","year":"2015","journal-title":"Sensors"},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"10480","DOI":"10.3390\/rs70810480","article-title":"Automatic in situ calibration of a spinning beam lidar system in static and kinematic modes","volume":"7","author":"Chan","year":"2015","journal-title":"Remote Sens."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"61","DOI":"10.5194\/isprsannals-II-5-W2-61-2013","article-title":"Temporal analysis and automatic calibration of the velodyne hdl-32e lidar system","volume":"2","author":"Chan","year":"2013","journal-title":"ISPRS Ann. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_35","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_36","unstructured":"Yang, M.Y., and F\u00f6rstner, W. (2010, January 9\u201311). Plane detection in point cloud data. Proceedings of the 2nd International Conference on Machine Control Guidance, Bonn, Germany."},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Le Scouarnec, R., Touz\u00e9, T., Lacambre, J.-B., and Seube, N. (2014, January 12\u201314). A new reliable boresight calibration method for mobile laser scanning applications. Proceedings of the European Calibration and Orientation Workshop, Castelldefels, Spain.","DOI":"10.5194\/isprsarchives-XL-3-W1-67-2014"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1007\/s10846-014-0080-3","article-title":"An efficient calibration approach for arbitrary equipped 3-d lidar based on an orthogonal normal vector pair","volume":"79","author":"Shang","year":"2015","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"20025","DOI":"10.3390\/s141120025","article-title":"Boresight calibration of construction misalignments for 3d scanners built with a 2d laser rangefinder rotating on its optical center","volume":"14","author":"Morales","year":"2014","journal-title":"Sensors"},{"key":"ref_40","first-page":"13","article-title":"Boresight alignment method for mobile laser scanning systems","volume":"4","author":"Rieger","year":"2010","journal-title":"J. Appl. Geod."},{"key":"ref_41","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_42","doi-asserted-by":"crossref","first-page":"339","DOI":"10.14358\/PERS.78.4.339","article-title":"Calibration and kinematic analysis of the velodyne hdl-64e s2 lidar sensor","volume":"78","author":"Glennie","year":"2012","journal-title":"Photogramm. Eng. Remote Sens."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"5805","DOI":"10.3390\/rs5115805","article-title":"Multi-sensor platform for indoor mobile mapping: System calibration and using a total station for indoor applications","volume":"5","author":"Keller","year":"2013","journal-title":"Remote Sens."},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"2127","DOI":"10.1016\/j.measurement.2013.03.006","article-title":"Review of mobile mapping and surveying technologies","volume":"46","author":"Puente","year":"2013","journal-title":"Measurement"},{"key":"ref_45","unstructured":"Reshetyuk, Y. (2009). Self-Calibration and Direct Georeferencing in Terrestrial Laser Scanning. [Ph.D. Thesis, Royal Institute of Technology]."},{"key":"ref_46","first-page":"266","article-title":"Digital camera calibration methods: Considerations and comparisons","volume":"36","author":"Remondino","year":"2006","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_47","unstructured":"Ministry of Land, I.a.T.o.K. Standard of Horizontal Coordinate, Available online: http:\/\/www.law.go.kr\/lsBylInfoPLinkR.do?lsiSeq=171727&lsNm=%EA%B3%B5%EA%B0%84%EC%A0%95%EB%B3%B4%EC%9D%98%EA%B5%AC%EC%B6%95%EB%B0%8F%EA%B4%80%EB%A6%AC%EB%93%B1%EC%97%90%EA%B4%80%ED%95%9C%EB%B2%95%EB%A5%A0%EC%8B%9C%ED%96%89%EB%A0%B9&bylNo=0002&bylBrNo=00&bylCls=BE&bylEfYd=&bylEfYdYn=Y."},{"key":"ref_48","unstructured":"U.S. General Services Administration Gsa Bim Guide for 3d Imaging, Available online: http:\/\/www.gsa.gov\/bim."},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"649","DOI":"10.1016\/j.autcon.2010.12.008","article-title":"Assessment of target types and layouts in 3d laser scanning for registration accuracy","volume":"20","author":"Jazizadeh","year":"2011","journal-title":"Autom. Constr."},{"key":"ref_50","doi-asserted-by":"crossref","unstructured":"Tan, K., and Cheng, X. (2016). Correction of incidence angle and distance effects on tls intensity data based on reference targets. Remote Sens., 8.","DOI":"10.3390\/rs8030251"},{"key":"ref_51","unstructured":"Rusinkiewicz, S., and Levoy, M. (June, January 28). Efficient variants of the icp algorithm. Proceedings of the Third International Conference on 3-D Digital Imaging and Modeling, Quebec City, QC, Canada."},{"key":"ref_52","unstructured":"Korean National Geographic Information Institute Gnss Data Service, Available online: http:\/\/gnss.ngii.go.kr\/info\/opsInfo."},{"key":"ref_53","unstructured":"Hassan, E. (2014). Calibration of Multi-Sensor Laser Scanning Systems, University of Calgary."},{"key":"ref_54","doi-asserted-by":"crossref","first-page":"97","DOI":"10.5623\/cig2016-202","article-title":"Boresight and lever arm calibration of a mobile terrestrial lidar system","volume":"70","author":"Leslar","year":"2016","journal-title":"GEOMATICA"},{"key":"ref_55","unstructured":"El-Sheimy, N. (2000). Geodesy beyond 2000, Springer."},{"key":"ref_56","unstructured":"Mikhail, E.M., and Ackermann, F.E. (1976). Observations and Least Squares, IEP Don-Donnelley."},{"key":"ref_57","unstructured":"Ghilani, C.D. (2010). Adjustment Computations: Spatial Data Analysis, John Wiley & Sons, INC."},{"key":"ref_58","doi-asserted-by":"crossref","first-page":"699","DOI":"10.14358\/PERS.71.6.699","article-title":"Photogrammetric and lidar data registration using linear features","volume":"71","author":"Habib","year":"2005","journal-title":"Photogramm. Eng. Remote Sens."},{"key":"ref_59","unstructured":"Harris, C., and Stephens, M. (September, January 31). A combined Corner and Edge Detector. Proceedings of the Alvey Vision Conference, Manchester, UK."},{"key":"ref_60","unstructured":"AXIS Axis f1005-e Sensor Unit. Available online: http:\/\/www.axis.com\/files\/datasheet\/ds_f1005e_1498822_en_1509.pdf."},{"key":"ref_61","unstructured":"Velodyne Hdl 32-e Datasheet. Available online: http:\/\/velodynelidar.com\/lidar\/hdlproducts\/97\u20130038d%20HDL-32E_datasheet.pdf."},{"key":"ref_62","unstructured":"Commission, I.E. (1998). Safety of Laser Products: Equipment Classification, Requirements and User\u2019s Guide, International Electrotechnical Commission."},{"key":"ref_63","unstructured":"Oxford Technical Solutions Survey+ User Manual. Available online: http:\/\/www.oxts.com\/Downloads\/Products\/surveyplus\/survey+man.pdf."},{"key":"ref_64","unstructured":"FARO Faro Focus3d. Available online: http:\/\/www.faro.com\/products\/3d-surveying\/laser-scanner-faro-focus-3d\/overview."},{"key":"ref_65","unstructured":"Trimble Trimble r8 User Guide. Available online: http:\/\/geocourse.kz\/Downloads\/manuals\/GPS\/Trimble%20R8-R6-R4_v480A_UserGuide%20ENG.pdf."},{"key":"ref_66","unstructured":"MathWorks Detectcheckerboardpoints. Available online: http:\/\/kr.mathworks.com\/help\/vision\/ref\/detectcheckerboardpoints.html#outputarg_boardSize."},{"key":"ref_67","doi-asserted-by":"crossref","unstructured":"Geiger, A., Moosmann, F., Car, \u00d6., and Schuster, B. (2012, January 14\u201318). Automatic Camera and Range Sensor Calibration Using a Single Shot. Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, USA.","DOI":"10.1109\/ICRA.2012.6224570"},{"key":"ref_68","unstructured":"FARO Scene. Available online: http:\/\/www.faro.com\/products\/faro-software\/scene\/downloads#Download."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/3\/474\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:29:18Z","timestamp":1760207358000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/3\/474"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,2,27]]},"references-count":68,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2017,3]]}},"alternative-id":["s17030474"],"URL":"https:\/\/doi.org\/10.3390\/s17030474","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2017,2,27]]}}}