Laser line scanners are increasingly being used in the subsea industry for high-resolution mapping and infrastructure inspection. However, calibrating the 3D pose of the scanner relative to the vehicle is a perennial source of confusion and frustration for industrial surveyors. This work describes three novel algorithms for laser-to-vehicle extrinsic calibration using naturally occurring features. Each algorithm makes a different assumption on the quality of the vehicle trajectory estimate, enabling good calibration results in a wide range of situations. A regularization technique is used to address low-observability scenarios frequently encountered in practice with large, rotationally stable subsea vehicles. Experimental results are provided for two field datasets, including the recently discovered wreck of the Endurance.

翻译：激光线扫描仪在海底工业中日益广泛地用于高分辨率测绘和基础设施检测。然而，扫描仪相对于运载器三维姿态的标定始终是工业测量人员面临困惑与挑战的根源。本文提出三种利用自然特征实现激光至运载器外参标定的新算法。每种算法对运载器轨迹估计质量采用不同假设，从而在多种场景下均能获得良好的标定结果。针对大型、旋转稳定型海底运载器在实际作业中频繁遭遇的低可观测性场景，我们采用正则化技术加以处理。实验基于两组实地数据集（包括近期发现的"坚忍号"沉船）给出了标定结果。