OxTS georeferencing and boresight alignment software

OxTS Georeferencer

OxTS Georeferencer is a software tool developed by OxTS to combine INS trajectory data with raw LiDAR data to create a georeferenced 3D Pointcloud.

OxTS Georeferencer takes a file collected with a LiDAR scanner (synchronised in real-time with an OxTS inertial navigation system), a processed navigation trajectory file from the OxTS INS, and some required configuration files, to create a LAS pointcloud file that can be viewed in many 3rd party LiDAR software packages.

Thanks to our experience in calibration techniques, we have been able to develop a data-driven technique that helps system integrators and end users to start their work with confidence that their INS and LiDAR hardware has been installed precisely and accurately.

OxTS Georeferencer GUI inertial navigation system software showing LiDAR and NCOM

LiDAR Surveying Brochure

OxTS inertial navigation systems provide end users with absolute position and highly accurate inertial measurement information. This information allows them to georeference pointclouds from multiple LiDAR sensors.

These measurements help increase survey repeatability, cut down the time to survey, intelligently analyse data, improve final results and increase project ROI.

Read the OxTS LiDAR Surveying brochure to find out more.

OxTS Georeferencer 'How To' Tutorial

Learn the basics of using OxTS Georeferencer with this short tutorial video.

During the tutorial, OxTS Product Engineer Jacob Amacker discusses:

How to use OxTS Georeferencer
The different files required for the compatible LiDAR sensors
How to check your surveying route
The different processing options OxTS Georeferencer offers
The georeferencing, pointcloud creation feature

Jacob also demonstrates the boresight calibration tool available within OxTS Georeferencer and shows example pointclouds. He then explains how the different options described play into the final results of these.

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We post regular updates to our Social Media platforms including information about new product updates, the latest webinars from our Centre of Excellence webinar series, and other ad-hoc information about what we’ve been up to.

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Boresight Calibration

Boresight calibration is an essential part of INS and LiDAR integration.

If the coordinate systems of the two devices do not match perfectly then the georeferencing of LiDAR data will diverge over longer ranges and result in a less accurate pointcloud.

OxTS Georeferencer includes the ability to boresight supported LiDAR devices in order to ensure the user can produce clean and reliable data every time.

The results of running a boresight calibration are sometimes very clear, and sometimes marginal, but the objective is the same – align all sensors on the vehicle to the same coordinate system to ensure a high level of accuracy, regardless of a predefined test scenario.

A boresighted system allows for complete flexibility over the way you perform a survey.

Boresight Calibration Brochure

Precisely calibrating the angles between your survey (LiDAR, camera) and navigation (INS) devices is a critical part of any survey. If the angles aren’t measured precisely enough, it can have a negative effect on your final results.

Employing a data-driven technique can help you quickly and easily overcome this challenge.

Read the OxTS Boresight Calibration brochure to learn how this can be achieved.

Boresight comparison slider

Comparison1 – Full environment pointcloud

The below ‘full environment’ pointcloud clearly shows the difference between a boresighted and unboresighted pointcloud. The ‘before’ example suffers from blurring and double vision whereas the boresighted ‘after’ example is much clearer and the blurring and double vision has been eliminated.

Comparison2 – cross-section pointcloud

The below ‘tree’ pointcloud compares the final output from an OxTS xNAV INS with an OxTS Survey+ INS. The data was processed using OxTS’ LiDAR georeferencing software OxTS Georeferencer.

The post (on the left of the pointcloud) and the building (on the right of the pointcloud) suffer from double vision, however this is eliminated when using OxTS’ flagship INS the Survey+ alongside OxTS Georeferencer.

The Survey+ v3 INS is ideal for mobile mapping based applications, whereas the xNAV v3 INS, a smaller, lightweight INS is ideal for UAV based survey applications.

Comparison3 – Scaffolding pointcloud

The below ‘scaffolding’ pointcloud again compares the final output from an OxTS xNAV INS with an OxTS Survey+ INS. The data was processed using OxTS’ LiDAR georeferencing software OxTS Georeferencer.

In this example it is clear to see the intelligent colourisation feature within OxTS Georeferencer in use.

This feature clearly indicates which points within a LiDAR survey are the most accurate. This gives surveyors the ability to decide which parts of a survey they want to keep and which areas may need to be surveyed again.

Comparison4 – Targets only

The below before and after examples clearly show the difference between a boresighted and unboresighted pointcloud.

The examples below show two 80 cm x 80 cm square targets. In the ‘before boresight’ example you can clearly see the targets suffer from double vision and appear as four. However, once the angles between the INS and the LiDAR sensors have been calibrated using a data-driven technique, the double vision has been completely eliminated and the two targets are clearly visible and much sharper.

Check if your LiDAR device is supported for Boresighting and Georeferencing by taking a look at the ‘supported devices’ tab or by downloading the OxTS LiDAR Survey brochure

Contact OxTS at info@oxts.com for more information, or check out our sample data!

OxTS Georeferencer Process Flow

OxTS Georeferencer’s main function is to synchronise and fuse the OxTS INS and LiDAR data sets.

A LiDAR sensor can sense range to a target, but it has no internal knowledge of when or where it is, or where it has moved to since the last scan occurred. This is where the INS adds essential information:

Nanosecond accurate time (Survey grade GNSS receivers)
RTK/PPK accurate position (Survey grade GNSS receivers and tightly-coupled navigation engine)
Accurate heading, pitch, and roll (Survey grade IMU sensors)

Thanks to live accuracies being reported as well, the data can be intelligently filtered based on estimated position/orientation accuracy of the INS, allowing you to perform less clean-up of the data in post-processing.

OxTS Georeferencer Process Flow

Boresight Calibration Brochure

Precisely calibrating the angles between your survey (LiDAR, camera) and navigation (INS) devices is a critical part of any survey. If the angles aren’t measured precisely enough, it can have a negative effect on your final results.

Employing a data-driven technique can help you quickly and easily overcome this challenge.

Read the OxTS Boresight Calibration brochure to learn how this can be achieved.

Manufacturer	LiDAR model	Software version required	Status
Velodyne	VLP-16 Puck	21.0.15.0 / 20.1.15.34193	Tested
Velodyne	VLP-16 Puck LITE	21.0.15.0 / 20.1.15.34193	Beta
Velodyne	VLP-32C	21.0.15.0	Beta
Velodyne	Alpha Prime VLS128	21.0.15.0	Beta
Hesai	Pandar40P	21.0.15.0	Tested
Ouster	All Gen2 (32, 64 & 128 versions of OS0, OS1 & OS2 sensors)	21.0.15.0	Beta
Ouster	OS1-64	21.0.15.0	Tested

NOTE: 3rd party INS devices are not supported due to the data manipulation for synchronisation and quality assurance (specific accuracy and status messages from NCOM are required for processing)

If you are interested in other LiDAR sensors being supported by OxTS Georferencer, contact us at info@oxts.com. We may already be planning to integrate the sensor you want!

xNAV v3

The high performance, lightweight, INS for drone and UAV...

Survey+ v3

Our flagship INS for land-based mobile mapping and manned aircraft...

xOEM v3 board set

Our lightweight, next generation INS board set for system integrators...

Example Pointclouds

The below pointcloud examples have been produced using OxTS Survey Inertial Navigation Systems and a Velodyne VLP-16 LiDAR sensor. The data was georeferenced using OxTS Georeferencer.

The example pointcloud data is free to download and use.

Open Road

This data was collected using an OxTS xNAV550 and a Velodyne VLP-16.

The LiDAR was mounted to the rear window of the vehicle in order to create the highest density view of the road surface in the resulting pointcloud.

Data can be downloaded here

Tree Canopy

This data was collected using an OxTS xNAV550 and a Velodyne VLP-16.

The LiDAR was mounted to the rear window of the vehicle in order to create the highest density view of the road surface in the resulting pointcloud.

Data can be downloaded here

Airfield

This data was collected using an OxTS xNAV550 and a Velodyne VLP-16.

The LiDAR was mounted on the front of the roof at an incline of 10 degrees in order to ensure the best field of view of the road ahead and building features in the surrounding area.

Data can be downloaded here

Before boresight calibration

This data was collected using an OxTS xNAV550 and a Velodyne VLP-16.

The Inertial Navigation System/LiDAR payload was mounted on a DJI Matrice 600 pro UAV that was custom made by the user.

Data can be downloaded here

Retroreflective targets before boresight calibration

After boresight calibration

This data was collected using an OxTS xNAV550 and a Velodyne VLP-16 .

The Inertial Navigation System/LiDAR payload was mounted on a DJI Matrice 600 pro UAV that was custom made by the user.

Data can be downloaded here

Retroreflective targets after boresight calibration

Raw data files

The below raw data files are free for users to download and use. OxTS Georeferencer requires a LiDAR file (pcap or lcom), a navigation data file (ncom) and hardware configuration files (lip, lir and vat).

There are a number of raw data files available to use. These are from a survey completed using an OxTS Survey+ v3 INS and a Velodyne VLP-16 LiDAR.

Raw data files can be downloaded here

There are two NCOM navigation files. One of these is the full survey that includes both the boresight and the road survey. The other is cropped for the boresight only.
There are two LCOM LiDAR data files. One of these is the road survey and one is the boresight. These do not have to be recorded separately.
There are both calibrated and uncalibrated configuration files that have been calibrated using the boresight calibration functionality.
There is one VAT configuration file.

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OxTS Georeferencer and Boresight Tool

OxTS Georeferencer

LiDAR Surveying Brochure

OxTS Georeferencer 'How To' Tutorial

Follow OxTS on Social Media

LinkedIn Showcase Pages

OxTS Twitter and YouTube Channels

Boresight Calibration

Boresight Calibration Brochure

Boresight comparison slider

Comparison1 – Full environment pointcloud

Comparison2 – cross-section pointcloud

Comparison3 – Scaffolding pointcloud

Comparison4 – Targets only

OxTS Georeferencer Process Flow

Boresight Calibration Brochure

xNAV v3

Survey+ v3

xOEM v3 board set

Example Pointclouds

Open Road

Tree Canopy

Airfield

Before boresight calibration

After boresight calibration

Raw data files