Rigorous Calibration of UAV-Based LiDAR Systems with Refinement of the Boresight Angles Using a Point-to-Plane Approach.

Advances in micro-electro-mechanical navigation systems and lightweight LIDAR (light detection and ranging) sensors onboard unmanned aerial vehicles (UAVs) provide the feasibility of deriving point clouds with very high and homogeneous point density. However, the deformations caused by numerous sources of errors should be carefully treated. This work presents a rigorous calibration of UAV-based LiDAR systems with refinement of the boresight angles using a point-to-plane approach.