msc geodetic engineering msr-02: advanced …
TRANSCRIPT
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03: SYSTEM CALIBRATION
MSC GEODETIC ENGINEERING
MSR-02: ADVANCED TECHNIQUES FOR MOBILE SENSING AND ROBOTICS (GEODESY TRACK)
DR. LASSE KLINGBEIL
INSTITUTE FOR GEODESY AND GEOINFORMATIONUNIVERSITY OF BONN
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ADVANCED TECHNIQUES FOR MOBILE SENSINGAND ROBOTICS – LECTURE CONTENT
(1) Mobile Laser Scanning
(2) Trajectory Estimation
(3) System Calibration
(4) Sensor Synchronisation
(5) From Images to Point Clouds (SfM)
(6) Accuracy of Point Clouds I
(7) Accuracy of Point Clouds II
(8) Deformation Analysis with Point Clouds I
(9) Deformation Analysis with Point Clouds II
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CHAPTER 1: MOBILE LASER SCANNING
• Review of involved coordinate systems /frames
• Derivation of detailed georeferencing equationfor the example of mobile laser scanning
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration 3
Environment
TrajectoryMoving Platform
with Sensors
Spatial Information about the
Environment
s
g
( )gs tT
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CHAPTER 2: TRAJECTORY PARAMETERS
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
Navigation frameEarth frame
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• Review of inertial navigation, strapdown integration and Kalman Filtering
• Introduced Kalman Smoothing
• Evaluation of trajectory estimation
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CHAPTER 3: SYSTEM CALIBRATION
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From: Chiang, K.-W.; Tsai, M.-L.; Naser, E.-S.; Habib, A.; Chu, C.-H. New Calibration Method Using Low Cost MEM IMUs to Verify the Performance of UAV-Borne MMS Payloads. Sensors 2015, 15, 6560-6585.
• Overview of system calibration methods
• Detailed derivation of plane based calibration
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CALIBRATION
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
FORMAL DEFINITION
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Operation that, under specified conditions, in a first step, establishes a relation between the quantity values with measurement uncertainties provided by measurement standards and corresponding indications with associated measurement uncertainties (of the calibrated instrument or secondary standard) and, in a second step, uses this information to establish a relation for obtaining a measurement result from an indication
International Vocabulary of Metrology – Basic and General Concepts and Associated Terms (VIM 3rd edition) https://jcgm.bipm.org/vim/en/index.html
Indication: quantity value provided by a measuring instrument or a measuring system
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CALIBRATION
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
WHAT DO WE USUALLY MEAN BY CALIBRATION
• Derive necessary parameters to receive useful informationfrom a measurement system
• Prodedure to minimize systematic errors in a measurementsystem
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Calibration parameters:- Constants- Paramaters of functional
relationships- Look up tables
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CALIBRATION EXAMPLES
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
INERTIAL SENSORS
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Offset/BiasTrue value Sensor readings
Axis Misalignment Scale factors
Parameters can be also „calibrated over temperature“
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CALIBRATION EXAMPLES
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
GNSS ANTENNAS
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Additive corrections to phase observationsdepending on azimuth and zenitth angles of thesatellites
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CALIBRATION EXAMPLES
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
LASER SCANNER
• Determination of misalignements between various internal components
• distance measurement offsets of laser
• …
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CALIBRATION EXAMPLES
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
CAMERA CALIBRATION
• See camera calibrationlecture by C. Stachniss in this course
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Slides by Cyrill StachnissIntrinsic cameraparameters- principal point- camera constant- scale- sheer
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CALIBRATION
• Examples so far: Individual calibration of single sensors or sensor groups(Inertial sensors, scanner, camera, GNSS antenna, …)
Component calibration
• Also necessary in complex multi-sensor systems:Calibration of geometric relationships between the sensors
System Calibration
• Establishing a temporal relationship between sensor readingcan also be considered as a calibration procedure
Sensor sychronization (next lexture)
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SYSTEM CALIBRATION
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s1
s2
s3
s4
s5
s6
b1
bsT
Camera tocameracalibration
IMU frame isusually platformframe
GNSS leverarmcalibration
Camera to lasercalibration
Camera toplatform/ laser to platform
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CHAPTER 3: SYSTEM CALIBRATION
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration 14
From: Chiang, K.-W.; Tsai, M.-L.; Naser, E.-S.; Habib, A.; Chu, C.-H. New Calibration Method Using Low Cost MEM IMUs to Verify the Performance of UAV-Borne MMS Payloads. Sensors 2015, 15, 6560-6585.
• Overview of system calibration methods
• Detailed derivation of plane based calibration
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SYSTEM CALIBRATION - METHODS
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
PREVIOUS KNOWLEDGE
• Data from construction plan
Might be wrong, especially for critical parameterssuch as angles
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SYSTEM CALIBRATION - METHODS
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
DIRECT OBSERVATION
• Example: Get parameters fromaccurate laser scan
• Problem: Most points of interest are not physicallyvisible/available, egcamera focal points
• How to deal withorientations?
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SYSTEM CALIBRATION - METHODS
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
DIRECT MEASUREMENT
• Example:Use geodeticmeasurement equipmentand methods to deriveparameters
• Accurate but lot of manual work
• Also problems with non physicalpoints of interests and orientations (cameras)
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From: Christian Hesse (2007): Hochauflösende kinematische Objekterfassung mit terrestrischen Laserscannern. PhD Thesis. Uni Hannover
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SYSTEM CALIBRATION - METHODS
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
INDIRECT MEASUREMENTS
• Use the sensors, which position/orientation parameters are needed(scanner or cameras), to observe objects (e.g. points, planes, spheres) with known positions/orientations in the or relative tothe body frame.
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Gräfe (2007)From: Christian Hesse (2007): Hochauflösende kinematische Objekterfassung mit terrestrischen Laserscannern. PhD Thesis. Uni Hannover
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SYSTEM CALIBRATION - METHODS
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
ENTROPY BASED METHODS
• Formulate pointcloud as a Gaussian Mixture Model
• Find a measure for the ‚quality‘ or ‚compactness‘ or ‚crispness‘ of the point cloud Quadratic Renyi Entropy
• Generate a point cloud using the sensor system, trying to see same areas from multiple ‚viewing conditions‘
• Assume the world not to be ‚too noisy‘
• Minimize QRE by varying calibrationparameters
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More details: W. Maddern, A. Harrison, and P. Newman, “Lost in translation (and rotation): Fast extrinsic calibration for 2D and 3D LIDARs,” in Proc. IEEE Int. Conf. Robot. Autom., May 2012
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SYSTEM CALIBRATION - METHODS
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
INDIRECT MEASUREMENTS – PLANE BASED
• Use arbitrary or dedicated plane setup together with an adjustment procedure to derive parameters
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Dorndorf et al. (2015) Heinz et al. (2015) Hartmann et al. (2015)
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PLANE BASED CALIBRATION
LASER TO GNSS/IMU (= LASER TO BODY)
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PLANE BASED CALIBRATIONFOR MOBILE LASER SCANNING
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1 2
3
4
Setup of planes Reference scan of planes
Scan with mobile scanning systemAdjustment to derive parameters
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PLANE BASED CALIBRATION – MOBILE SCAN
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Aufnahme des Kalibrierfeldes mit zwei Durchfahrten (Hin- und Rück, ca 30 Sekunden)
Automatisierte Zuordnung der Scanprofile zu den Referenzebenen (RANSAC)
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PLANE BASED CALIBRATION
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Planes extracted frommobile scan
Planes measured with static sacnner
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PLANE BASED CALIBRATION
d
n⃗
y
x
z
1
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wikipedia
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PLANE BASED CALIBRATION
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
1) ESTIMATE PLANE PARAMETERS FROM TLS SCANS
• Implicit functional relationship between parameters and observations
Adjustment via Gauss-Helmert model / Least Squaresto get n, d
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observationsparameters
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PLANE BASED CALIBRATION
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
2) MEASURE PLANES WITH MOBILE SYSTEM
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parameters from TLS plane adjustment
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PLANE BASED CALIBRATION
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
3) ESTIMATE CALIBRATION PARAMETERS
• Implicit functional relationship between parameters and observations
Adjustment via Gauss-Helmert model / Total Least Squaresto get Calibration parameters
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observationsparameters
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PLANE BASED CALIBRATION
• The plane parameters could also be part of the estimatedparameter vector
• A dedicated plane setup is not necessary
• Disadvantage: general success and accuracy is not guaranteed, some parameters may not be observable
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration 29
observationsparameters
More details in: Jan Skaloud, Derek Lichti. Rigorous approach to bore-sight self-calibration in airborne laser scanning. ISPRS Journal of Photogrammetry and Remote Sensing 61 (2006) 47–59
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PLANE BASED CALIBRATION
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
RESULTS
• Single Calibration: as shown in figure
• 100 single calibration at different dayso 31.07.19, 15:40 – 15:55 (# 14)o 05.08.19, 11:05 – 11:25 (# 22)o 05.08.19, 12:30 – 12.50 (# 31)o 05.08.19, 13:45 – 14:10 (# 32)
reduction of systematic offsetsdue to GNSS conditions
• 4 reintializations of the IMU
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100 x
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PLANE BASED CALIBRATION - RESULTS
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From: Heinz, E.; Holst, C.; Kuhlmann, H. Klingbeil, L. (2020). Design and Evaluation of a Permanently Installed Plane-Based Calibration Field for Mobile Laser Scanning Systems, Remote Sensing 2020, 12, 555, https://doi.org/10.3390/rs12030555.
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IMPACT OF CALIBRATION ERRORS
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
3D POINT ERROR FROM SIMULATED CALIBRATION ERRORS
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IMPACT OF CALIBRATION ERRORS
Special driving maneuvers past building facades or artificalreference structures (e.g., planes or cylinders)
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
From: Keller, F.; Sternberg, H. Multi-Sensor Platform for Indoor Mobile Mapping: System Calibration and Using a Total Station for Indoor Applications. Remote Sens. 2013, 5, 5805-5824.
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IMPACT OF CALIBRATION ERRORS
Impact of errors in the boresight angles:
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2
1
3
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IMPACT OF CALIBRATION ERRORS
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration
~ 50 cm
Δγ = 5° s = 5,7 m Δp = 50 cm
Δβ = 5° Tilting of the facade when scanning in twodifferent directions)
1 2
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IMPACT OF CALIBRATION ERRORS
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Δα = 5° Shearing of facade
3
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CAMERA TO LASER CALIBRATION
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CAMERA TO LASER CALIBRATION
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cameras
front view
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CAMERA TO LASER CALIBRATION
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RGBMonochromatic 1 Monochromatic 2
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CAMERA TO LASER CALIBRATION
• Use checker board from camera calibration
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CAMERA TO LASER CALIBRATION
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• Find correspondences between laser and profiles and images
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CAMERA TO LASER CALIBRATION
• Compute translation and rotation between both systemsby using known point relationships
Klingbeil: Advanced Techniques for Mobile Sensing and Robotics - Geodesy - 03 - System Calibration 42
Y
ZX R,t
Scanner System
Y
Z
X
Camera System
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CAMERA TO LASER CALIBRATION
• Application example: colorize laser point clouds
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WHAT YOU HAVE LEARNED TODAY
• What is calibration and why it is necessesary?
• What are examples for calibration parameters?
• What are possible methods for system calibration?
• How is one possible precedure for plane basedcalibration for mobile laser scanning systems?
• What is the impact of calibration errors in mobile laser scanning systems?
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THANKS