Motion Correction for Scanning of Moving Objects using LiDAR: Experimental Validation and Analysis

Abstract. Conventional laser scanning techniques (such as in a Terrestrial Laser Scanner or Mobile mapping), whether used in a static or mobile mode require the object of interest to remain stationary during the scanning stage. Any motion of the object during scanning results in the apparent distortions in the resulting point cloud. The authors in (Goel and Lohani, 2014b) proposed a motion correction technique to estimate the 3D geometry of a moving object, utilizing a fusion of inertial and GNSS (Global Navigation Satellite Systems) sensors and transformation of the resulting point cloud to an object body coordinate system (OBCS). This paper aims to carry out the experimental validation and performance analysis of the motion correction method. Field experiments are designed and conducted in three phases to verify the correctness of the method. Through this, the paper aims to uncover insights into the performance of the motion correction algorithm and provide the first experimental validation of the proposed technique.