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A New Approach for LIDAR Latency and Bore-sight angles Calibration

Jean-Guy NISTAD, Alan PICARD,  Mathieu RONDEAU, Nicolas SEUBE and Thomas TOUZE

After deriving a estimate of orientation latency, we shall present an experimental set-up that implements this estimation technique. We shall demonstrate that orientation latency can be estimated without geo-referencing the LIDAR data, which cancel out errors due to the positioning system. Our procedure is capable to estimate the latency of a complete acquisition system, including a acqusition computer and software, a inertial motion unit, and a VML. Experimental results will prove that our precision and accuracy on latency estimation is less than 0.06 ms which makes it attractive for any VML or airborne Lidar application.

We shall present experimental results obtained with an experimental set-up including a Leica HDS6200 LIDAR, and a OCTANS4 IMU connected to the Qinsy acqusition software. By using this set-up, we proved that we can accurately estimate the OCTAN4. We also proved that acquisition driver parametrisation may affect the latency, and that our method is capable of estimating the latency induced by any variation of the buffer size.

Following the same lines, we designed a LIDAR bore-sight angle calibration method that can work without positioning, which therefore cancel out calibration errors due du positioning errors. This calibration methods is based on several static scans of a trihedral made with cylinders, and allows to compute very accurately bore-sight angles through an iterative procedure which also returns a quality index of the calibration.