A Calibration Algorithm for 3D Laser Scanner Based on Spatial Sphere

A model parameter calibration algorithm based on spatial sphere is proposed to estimate the measurement model parameters of a 3D laser scanner.The distance constraint between each laser scanning point on a spherical calibration object and the center of the calibration sphere is used to establish a nonlinear objective function to determine the model parameters of the 3D laser scanner and the calibration sphere parameters.The model parameter calibration of the laser scanner is realized by optimizing the objective function implemented by a proposed hybrid algorithm which integrates the invasive weed optimization(IWO) and the Levenberg-Marquardt algorithm.By adding the number of scanning points on the calibration sphere,the influence of measuring noise of laser scanner on calibration accuracy can be weakened,thereby the model parameter calibration accuracy of the proposed algorithm is improved.Experimental results show that the proposed algorithm can yield accurate calibration results with a good consistency of model parameters,and effectively suppress the measurement noise.