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应用于高分辨率测绘与基础设施检测。然而，扫描仪相对于车辆的三维位姿标定始终是工业测量人员面临的一大困扰与挫折。本文提出了三种基于自然特征实现激光-车辆外参标定的新颖算法。每种算法对车辆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。针对实际中常遇到的搭载大型旋转稳定海底车辆时的低可观测场景，我们引入正则化技术加以应对。基于两套实测数据集（包括近期发现的"坚忍号"沉船）的实验结果验证了方法的有效性。