Accurate Calibration of a Self-Developed Vehicle-Borne LiDAR Scanning System

Table 3

Comparison of the relative accuracy between VLS system data and total station measurement data (error 1 and error 2 represent distance error before and after calibration, respectively).

	Total station measurement data (m)	Precalibration point cloud data (m)	Postcalibration point cloud data (m)	Error 1 (m)	Error 2 (m)
1	7.5457	7.5596	7.5370	0.0139	-0.0087
2	8.9349	9.0030	8.9630	0.0681	0.0281
3	64.6947	64.7478	64.7129	0.0531	0.0182
4	83.5307	83.4468	83.4980	-0.0839	-0.0327
5	63.5752	63.6020	63.5701	0.0268	-0.0051
6	81.3449	81.3072	81.3375	-0.0377	-0.0074
7	20.3522	20.2961	20.3405	-0.0561	-0.0117
8	74.785	74.8495	74.8066	0.0645	0.0216
9	2.3324	2.3910	2.3456	0.0586	0.0132
10	1.5648	1.6306	1.5814	0.0658	0.0166
RMS error (m)				0.0565	0.0184