Boresighting a LiDAR without Accurate Range Measurements for Relative Navigation

Joseph Curro, Thomas Pestak and John Raquet

Abstract:	This paper proposes a new method to boresight a LiDAR. This particular method was developed because the standard approach of planar detection and characterization fails when using LiDARs with poor range accuracy and/or precision. This method and associated algorithm is aimed at inexpensive, low-profile LiDARs with poor range accuracy and/or precision. The lack of adequate precision is due to the range quantization of the sensor. The proposed method is compared to a standard method that uses LiDAR measurements to characterize known reference planes. The proposed method reduces the LiDAR boresighting errors (alignment biases) over the standard method.
Published in:	Proceedings of the 2013 International Technical Meeting of The Institute of Navigation January 29 - 27, 2013 Catamaran Resort Hotel San Diego, California
Pages:	687 - 695
Cite this article:	Curro, Joseph, Pestak, Thomas, Raquet, John, "Boresighting a LiDAR without Accurate Range Measurements for Relative Navigation," Proceedings of the 2013 International Technical Meeting of The Institute of Navigation, San Diego, California, January 2013, pp. 687-695.
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