Automated Calibration of the Camera Orientation of a LiDAR Mobile Mapping System

The ikg uses a mobile mapping system RIEGL VMX-250 to acquire geo-referenced point clouds and images of the environment. The system includes two laser scanners and four cameras. The coarse camera orientation is estimated by a manual workflow selecting corresponding points in the point cloud and camera images.

In order to avoid the time consuming and user dependent manual process, the main goal of this work was to automatically refine the relative orientation of the cameras using features in a defined calibration area.