A quasi-rigorous model based on improved ICP algorithm in the application of auto-calibration of airborne LiDAR system

The purpose of the airborne LiDAR system calibration is to eliminate the influence of system error and improve the precision of the original point cloud data. In certain hypothesis of flight conditions, the directly positioning model for LiDAR can be reduced to a quasi-rigorous model, and the dependence on the original observation data for the system calibration model is reduced too. In view of the shortcoming of human interaction way to establish corresponding relationship between strips, an improved ICP method which considering the object features in point clouds is proposed to get the transform relationship between strips, and the automatic calibration procedures of LiDAR system is established in this paper. Taking with the real LiDAR data in Baotou test field, experiment results show that the proposed system calibration procedures can greatly eliminate the influence of system error.