2015 Volume 7 Pages 89-93
The aerial 3D laser scanner is needed for scanning the areas that cannot be observed from the ground. Since the laser scanning takes time, the obtained range data is distorted due to the sensor motion while scanning. This paper presents a rectification method for the distorted range data by aligning each scan line to the 3D data obtained from the ground. To avoid the instability and ambiguity of the line-based alignment, the parameters to be optimized are selected alternately, and the smoothness constraint is introduced by assuming that the sensor motion is smooth. The experimental results show that the proposed method has the good accuracy simulation and actual data.