Rigorous approach to bore-sight self-calibration in airborne laser scanning

We present a rigorous method for estimating some of the calibration parameters in airborne laser scanning (ALS), namely the three bore-sight angles and the range-finder offset. The technique is based on expressing the system calibration parameters within the direct-georeferencing equation separately for each target point, and conditioning a group of points to lie on a common surface of a known form such as plane