Validation of LiDAR calibration using a LiDAR simulator

Abstract

LIDAR is being widely used for mapping and modelling because it accurately scans and acquires 3D geometric information of the surrounding environment. In order to improve the accuracy of the LIDAR measurement, it is necessary to precisely estimate the intrinsic parameters as well as extrinsic parameters and eliminate the systematic errors. Many studies are conducted to eliminate these errors caused by the intrinsic parameters of LIDAR. However, when the result of intrinsic calibration is verified using actual LIDAR data, there is a problem that other error factors cannot be excluded. Therefore, in this study, the LIDAR intrinsic calibration is verified by using a LIDAR simulator that simulates the mechanism of the actual LIDAR. When constructing a LIDAR simulator, the systematic error is inserted according to the intrinsic parameter model of LIDAR. And according to the method of scanning with LIDAR, it is divided into upright scanning and tilted scanning, and the error included LIDAR simulation data is generated. After that, the intrinsic parameters are estimated by applying the plane-based intrinsic calibration. Since values of the intrinsic parameters are known, they are compared with the estimated parameters, and the results of estimate are analyzed according to the scanning method.