Direct sensor orientation of a land-based mobile mapping system

Jiann Yeou Rau, Ayman F. Habib, Ana P. Kersting, Kai Wei Chiang, Ki In Bang, Yi Hsing Tseng, Yu Hua Li

Research output: Contribution to journalArticlepeer-review

28 Citations (Scopus)


A land-based mobile mapping system (MMS) is flexible and useful for the acquisition of road environment geospatial information. It integrates a set of imaging sensors and a position and orientation system (POS). The positioning quality of such systems is highly dependent on the accuracy of the utilized POS. This limitation is the major drawback due to the elevated cost associated with high-end GPS/INS units, particularly the inertial system. The potential accuracy of the direct sensor orientation depends on the architecture and quality of the GPS/INS integration process as well as the validity of the system calibration (i.e., calibration of the individual sensors as well as the system mounting parameters). In this paper, a novel single-step procedure using integrated sensor orientation with relative orientation constraint for the estimation of the mounting parameters is introduced. A comparative analysis between the proposed single-step and the traditional two-step procedure is carried out. Moreover, the estimated mounting parameters using the different methods are used in a direct geo-referencing procedure to evaluate their performance and the feasibility of the implemented system. Experimental results show that the proposed system using single-step system calibration method can achieve high 3D positioning accuracy.

Original languageEnglish
Pages (from-to)7243-7261
Number of pages19
Issue number7
Publication statusPublished - 2011 Jul

All Science Journal Classification (ASJC) codes

  • Analytical Chemistry
  • Information Systems
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering


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