Ground three-dimensional laser scanner self-calibration method based on homonymy characteristics

The invention discloses a ground three-dimensional laser scanner self-calibration method based on homonymy characteristics, and belongs to the technical field of surveying and mapping information, and the method comprises the following steps: S1, employing a scanner to carry out multiple times of scanning under different observation stations; s2, acquiring different scene point clouds and respectively extracting feature points, feature lines and feature surfaces; s3, performing feature description on the extracted point, line or surface features by using an algorithm, and matching features extracted by different observation stations to find homonymy features; s4, acquiring an initial value of a to-be-calibrated parameter of the laser scanner, and determining a to-be-solved error parameter; s5, scanning point cloud data corresponding to the features are substituted into the parameter model to solve initial error parameters; and S6, optimizing the initial error parameter by using a least square adjustment algor