Targetless intrinsic calibration for rotating LiDAR systems: a physical decoupling protocol for high-precision measurement in geometrically constrained environments
Digital-twin construction for underground space relies on high-fidelity 3D geometric data. In GNSS-denied environments such as tunnels, economical mobile-scanning systems exhibit severe geometric distortions and trajectory drifts caused by sensor-intrinsic parameter coupling. This study develops a targetless self-calib...