{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,15]],"date-time":"2025-10-15T00:39:19Z","timestamp":1760488759917,"version":"build-2065373602"},"reference-count":43,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2017,5,17]],"date-time":"2017-05-17T00:00:00Z","timestamp":1494979200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Terrestrial laser scanner measurements suffer from systematic errors due to internal misalignments. The magnitude of the resulting errors in the point cloud in many cases exceeds the magnitude of random errors. Hence, the task of calibrating a laser scanner is important for applications with high accuracy demands. This paper primarily addresses the case of panoramic terrestrial laser scanners. Herein, it is proven that most of the calibration parameters can be estimated from a single scanner station without a need for any reference information. This hypothesis is confirmed through an empirical experiment, which was conducted in a large machine hall using a Leica Scan Station P20 panoramic laser scanner. The calibration approach is based on the widely used target-based self-calibration approach, with small modifications. A new angular parameterization is used in order to implicitly introduce measurements in two faces of the instrument and for the implementation of calibration parameters describing genuine mechanical misalignments. Additionally, a computationally preferable calibration algorithm based on the two-face measurements is introduced. In the end, the calibration results are discussed, highlighting all necessary prerequisites for the scanner calibration from a single scanner station.<\/jats:p>","DOI":"10.3390\/s17051145","type":"journal-article","created":{"date-parts":[[2017,5,17]],"date-time":"2017-05-17T11:13:17Z","timestamp":1495019597000},"page":"1145","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":25,"title":["Towards System Calibration of Panoramic Laser Scanners from a Single Station"],"prefix":"10.3390","volume":"17","author":[{"given":"Tomislav","family":"Medi\u0107","sequence":"first","affiliation":[{"name":"Institute of Geodesy and Geoinformation, University of Bonn, Nussallee 17, 53115 Bonn, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7966-4322","authenticated-orcid":false,"given":"Christoph","family":"Holst","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Geoinformation, University of Bonn, Nussallee 17, 53115 Bonn, Germany"}]},{"given":"Heiner","family":"Kuhlmann","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Geoinformation, University of Bonn, Nussallee 17, 53115 Bonn, Germany"}]}],"member":"1968","published-online":{"date-parts":[[2017,5,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"40","DOI":"10.1080\/00396265.2015.1097589","article-title":"External error modelling with combined model in terrestrial laser scanning","volume":"48","author":"Wang","year":"2015","journal-title":"Surv. Rev."},{"unstructured":"Nuttens, T., De Wulf, A., Bral, L., De Wit, B., Carlier, L., De Ryck, M., Stal, C., Constales, D., and De Backer, H. (2010, January 11\u201316). High Resolution Terrestrial Laser Scanning for Tunnel Deformation Measurements. Proceedings of the FIG Congress 2010: Facing the Challenges\u2014Building the Capacity, Sydney, Australia.","key":"ref_2"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1515\/jag-2014-0018","article-title":"Improved area-based deformation analysis of a radio telescope\u2019s main reflector based on terrestrial laser scanning","volume":"9","author":"Holst","year":"2015","journal-title":"J. Appl. Geod."},{"unstructured":"Walsh, G. (2015). Leica ScanStation P-Series\u2014Details That Matter, Leica Geosystems AG. Available online: http:\/\/blog.leica-geosystems.com\/wp-content\/uploads\/2015\/12\/Leica_ScanStation_P-Series_details_that_matter_white_paper_en-4.pdf.","key":"ref_4"},{"key":"ref_5","first-page":"147","article-title":"Calibration of Terrestrial Laser Scanners","volume":"6","author":"Holst","year":"2016","journal-title":"Allg. Vermess. Nachr."},{"doi-asserted-by":"crossref","unstructured":"F\u00f6rstner, W., and Wrobel, B.P. (2016). Photogrammetric Computer Vision, Statistics, Geometry, Orientation and Reconstruction, Springer International Publishing AG.","key":"ref_6","DOI":"10.1007\/978-3-319-11550-4_16"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"307","DOI":"10.1016\/j.isprsjprs.2006.10.004","article-title":"Modelling, calibration and analysis of an AM-CW terrestrial laser scanner","volume":"61","author":"Lichti","year":"2007","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"445","DOI":"10.1016\/j.isprsjprs.2010.05.005","article-title":"A unified approach to self-calibration of terrestrial laser scanners","volume":"65","author":"Reshetyuk","year":"2010","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"122","DOI":"10.1016\/j.isprsjprs.2013.02.007","article-title":"Geometric calibration of a terrestrial laser scanner with local additional parameters: An automatic strategy","volume":"79","author":"Lerma","year":"2013","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"unstructured":"Abbas, M.A., Setan, H., Majid, Z., Idris, K.M., Mohd Ariff, M.F., Chong, A.K., and Lichti, D.D. (2014, January 16\u201321). The Effect of Datum Constraints for Terrestrial Laser Scanners Self\u2013Calibration. Proceedings of the FIG Congress 2014: Engaging the Challenges\u2014Enhancing the Relevance, Kuala Lumpur, Malaysia.","key":"ref_10"},{"unstructured":"Chow, J., Ebeling, A., and Teskey, W. (2010, January 11\u201316). Low cost artificial planar target measurement techniques for terrestrial laser scanning. Proceedings of the FIG Congress 2010: Facing the Challenges\u2014Building the Capacity, Sydney, Australia.","key":"ref_11"},{"key":"ref_12","first-page":"14","article-title":"On-site self-calibration using planar features for terrestrial laser scanners","volume":"36","author":"Bae","year":"2007","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"unstructured":"Gielsdorf, F., Rietdorf, A., and Gr\u00fcndig, L. (2004, January 22\u201327). A Concept for the Calibration of Terrestrial Laser Scanners. Proceedings of the FIG Working Week, Athens, Greece.","key":"ref_13"},{"key":"ref_14","first-page":"191","article-title":"On-the-job detection and correction of systematic cyclic distance measurement errors of terrestrial laser scanners","volume":"2","author":"Dorninger","year":"2008","journal-title":"J. Appl. Geod."},{"key":"ref_15","first-page":"9","article-title":"Range calibration of terrestrial laser scanners with piecewise linear functions","volume":"1","author":"Pfeifer","year":"2009","journal-title":"Photogramm. Fernerkund. Geoinform."},{"key":"ref_16","first-page":"121","article-title":"Point-based versus plane-based self-calibration of static terrestrial laser scanners","volume":"38","author":"Chow","year":"2011","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"169","DOI":"10.5194\/isprsarchives-XXXIX-B5-169-2012","article-title":"Cylinder-based self-calibration of a panoramic terrestrial laser scanner","volume":"39","author":"Chan","year":"2012","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_18","first-page":"295","article-title":"Aiming at self-calibration of terrestrial laser scanners using only one single object and one single scan","volume":"8","author":"Holst","year":"2014","journal-title":"J. Appl. Geod."},{"unstructured":"Neitzel, F. (2007, January 29\u201331). Investigation of axes errors of terrestrial laser scanners. Proceedings of the Fifth International Symposium Turkisch-German Joint Geodetic Days, Berlin, Germany.","key":"ref_19"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"93","DOI":"10.1016\/j.isprsjprs.2009.09.002","article-title":"Terrestrial laser scanner self-calibration: Correlation sources and their mitigation","volume":"65","author":"Lichti","year":"2010","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"7224","DOI":"10.3390\/s130607224","article-title":"Improvements to and Comparison of Static Terrestrial LiDAR Self-Calibration Methods","volume":"13","author":"Chow","year":"2013","journal-title":"Sensors"},{"key":"ref_22","first-page":"155","article-title":"Experiences with terrestrial laser scanner modelling and accuracy assessment","volume":"36","author":"Lichti","year":"2006","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"219","DOI":"10.5194\/isprsannals-II-5-219-2014","article-title":"Self-calibration of terrestrial laser scanners: Selection of the best geometric additional parameters","volume":"2","author":"Lerma","year":"2014","journal-title":"ISPRS Ann. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"2676","DOI":"10.1364\/OE.19.002676","article-title":"Trimble GX200 and Riegl LMS-Z390i sensor self-calibration","volume":"19","author":"Armesto","year":"2011","journal-title":"Opt. Express"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"60","DOI":"10.1016\/j.isprsjprs.2009.08.005","article-title":"Sensor modeling, self-calibration and accuracy testing of panoramic cameras and laser scanners","volume":"65","author":"Parian","year":"2010","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"unstructured":"Gordon, B. (2008). Zur Bestimmung von Messunsicherheiten Terrestrischer Laserscanner. [Ph.D. Thesis, TU Darmstadt].","key":"ref_26"},{"key":"ref_27","first-page":"17","article-title":"Challenges and Present Fields of Action at Laser Scanner Based Deformation Analyses","volume":"10","author":"Holst","year":"2016","journal-title":"J. Appl. Geod."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"06016005","DOI":"10.1061\/(ASCE)SU.1943-5428.0000213","article-title":"Ray-Tracing Method for Deriving Terrestrial Laser Scanner Systematic Errors","volume":"143","author":"Lichti","year":"2016","journal-title":"J. Surv. Eng."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"139","DOI":"10.1016\/j.precisioneng.2014.11.002","article-title":"Volumetric Performance Evaluation of a Laser Scanner Based on Geometric Error Model","volume":"40","author":"Muralikrishnan","year":"2015","journal-title":"Precis. Eng."},{"doi-asserted-by":"crossref","unstructured":"Muralikrishnan, B., Rachakonda, P., Shilling, M., Lee, V., Blackburn, C., and Sawyer, D. (2016). Report on the May 2016 ASTM E57.02 Instrument Runoff at NIST, Part 1\u2014Background Information and Key Findings, Publisher. Available online: https:\/\/doi.org\/10.6028\/NIST.IR.8152.","key":"ref_30","DOI":"10.6028\/NIST.IR.8152"},{"unstructured":"Soudarissanane, S. (2016). The Geometry of Terrestrial Laser Scanning, Identification of Errors, Modeling and Mitigation of Scanning Geometry. [Ph.D. Thesis, Delft University of Technology].","key":"ref_31"},{"unstructured":"Z\u00e1me\u010dn\u00edkov\u00e1, M., and Neuner, H. (2017). Untersuchung des gemeinsamen Einflusses des Auftreffwinkels und der Oberfl\u00e4chenrauheit auf die reflektorlose Distanzmessung beim Scanning. Ingenieurvermessung 17, Beitr\u00e4ge zum 18. Internationalen Ingenieurvermessungskurs, Wichmann.","key":"ref_32"},{"doi-asserted-by":"crossref","unstructured":"Chow, J., Lichti, D., and Teskey, W. (2012, January 6\u201310). Accuracy assessment of the FARO Focus3D and Leica HDS6100 panoramic-type terrestrial laser scanners through point-based and plane-based user self-calibration. Proceedings of the FIG Working Week 2012: Knowing to Manage the Territory, Protect the Environment, Evaluate the Cultural Heritage, Rome, Italy.","key":"ref_33","DOI":"10.1515\/jag-2012-0017"},{"doi-asserted-by":"crossref","unstructured":"Ogundare, J.O. (2016). Precision Surveying: The Principles and Geomatics Practice, John Wiley & Sons, Inc.","key":"ref_34","DOI":"10.1002\/9781119147770"},{"unstructured":"Witte, B., and Schmidt, H. (2006). Vermessungskunde und Grundlagen der Statistik f\u00fcr das Bauwesen, Wichmann.","key":"ref_35"},{"unstructured":"Lichti, D., and Franke, J. (2005, January 3\u20135). Self-Calibration of the iQsun 880 Laser Scanner. Proceedings of the Optical 3-D Measurement Techniques VII, Vienna, Austria.","key":"ref_36"},{"unstructured":"Mikhail, E.W. (1976). Observations and Least Squares, Harper and Row.","key":"ref_37"},{"unstructured":"Reshetyuk, Y. (2009). Self-Calibration and Direct Georeferencing in Terrestrial Laser Scanning. [Ph.D. Thesis, Royal Institute of Technology].","key":"ref_38"},{"key":"ref_39","first-page":"68","article-title":"Rigorous adjustment of the nonlinear Gauss\u2013Helmert model","volume":"111","author":"Lenzmann","year":"2004","journal-title":"Allg. Vermess. Nachr."},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"733","DOI":"10.1007\/s00190-013-0643-2","article-title":"Weighted total least squares: Necessary and sufficient conditions, fixed random parameters","volume":"87","author":"Fang","year":"2013","journal-title":"J. Geod."},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"273","DOI":"10.1016\/S0734-189X(87)80144-5","article-title":"Reliability Analysis of Parameter Estimation in Linear Models with Applications to Mensuration Problems in Computer Vision","volume":"40","year":"1987","journal-title":"Comput. Vis. Graph. Image Process."},{"unstructured":"Caspary, W.F. (2000). Concepts of Network and Deformation Analysis, School of Geomatic Engineering the University of New South Wales.","key":"ref_42"},{"unstructured":"Leica Geosystems AG (2013). Leica ScanStation P20, Industry\u2019s Best Performing Ultra-High Speed Scanner, Leica Geosystems.","key":"ref_43"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/5\/1145\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:36:06Z","timestamp":1760207766000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/5\/1145"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,5,17]]},"references-count":43,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2017,5]]}},"alternative-id":["s17051145"],"URL":"https:\/\/doi.org\/10.3390\/s17051145","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2017,5,17]]}}}