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This paper presents an approach for modeling the trajectory of a moving platform equipped with a laser scanner and a camera. Inmost cases, GNSS and INS is used to determine the orientation of the platform, but sometimes it is impossible to use GNSS,especially indoor applications should be mentioned here. INS has a bad error propagation without GNSS. In addition, the accuracyof GNSS and low-cost INS is limited and often not equivalent to the accuracy potential of laser scanners. For the camera, there existsthe well-known alternative to obtain the orientation parameters via triangulation, for instance employing structure-from-motiontechniques. But it is more challenging to find an alternative for the laser scanner, because of its sequential data acquisition. In theapproach shown here, we propose to use a camera in combination with structure-from-motion techniques as the basis for determiningthe laser scanner trajectory parameters. For that purpose, we use piece-wise models for the trajectory through polynomial functions,supported by time-stamped matches between laser scanner and camera data

the international archives of the photogrammetry, remote sensing and spatial information sciences/international archives of the photogrammetry, remote sensing and spatial information sciences

Integrated Georeferencing of LiDAR and Camera Data Acquired from a Moving Platform