论文标题
传感器轨迹通过三角调节激光雷达回报估算
Sensor trajectory estimation by triangulating lidar returns
论文作者
论文摘要
本文描述了如何使用多回报雷达脉冲的数据来恢复空中激光雷达的传感器轨迹。这项工作扩展了Gatziolis和McGaughey（2019）的工作，通过同时适合多种脉冲的最小二乘，适合传感器轨迹。该方法可以自然扩展，以结合Hartzell（2020）之后的激光雷达回报的扫描角。这允许除了其位置外，还可以估算传感器的音高和偏航。
The paper describes how to recover the sensor trajectory for an aerial lidar collect using the data for multiple-return lidar pulses. This work extends the work of Gatziolis and McGaughey (2019) by performing a least-squares fit for multiple pulses simultaneously with a spline fit for the sensor trajectory. The method can be naturally extended to incorporate the scan angle of the lidar returns following Hartzell (2020). This allows the pitch and the yaw of the sensor to be estimated in addition to its position.
