The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XLII-2/W16
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W16, 227–234, 2019
https://doi.org/10.5194/isprs-archives-XLII-2-W16-227-2019
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W16, 227–234, 2019
https://doi.org/10.5194/isprs-archives-XLII-2-W16-227-2019

  17 Sep 2019

17 Sep 2019

A MATHEMATICAL SENSOR MODEL FOR INDOOR USE OF A MULTI-BEAM ROTATING 3D LIDAR

L. S. Tessema1,2, R. Jaeger2, and U. Stilla1 L. S. Tessema et al.
  • 1Photogrammetry and Remote Sensing, Technical University of Munich (TUM), Germany
  • 2Center for Applied Research, Karlsruhe University of Applied Sciences, 76133 Karlsruhe, Germany

Keywords: Multi-beam LiDAR, Sensor model, Velodyne

Abstract. Our contribution presents a new perspective in the mathematical description of a rotating multi-beam LiDAR sensor, in a sense that we make use of projective geometry along with the “homogeneous general equation of the second degree” to parametrize scan lines. We describe the scan geometry of a typical multi-beam rotating 3D LiDAR by representing scan lines as pojective conics that represent a projective figure (a cone) in an embedding plane. This approach enables the parameterization of each scan line using a generic conic section equation. Most modeling approachs model spinning LiDAR sensors in terms of individual points sampled by a laser beam. On the contrary, we propose a model that provides a high-level geometric interpretation both for the environment and the laser scans. Possible application scenarios include exterior and interior calibration of multiple rotating multi-beam sensors, scan distortion correction and localization in planar maps.