视准轴角度误差直接影响移动激光成像系统(MMS)的点云精度，尤其是在多路线、多角度下扫描同一区域时，不理想的视准轴误差估计会造成重叠区域无法无缝拼合。针对上述问题，提出了一种基于平面特征的地面移动激光成像系统的视准轴误差自标定方法，给出移动激光成像系统的点云生成模型，依据三维场景中的平面特征，建立Gauss-Helmert平差模型，依据最小二乘法，推导出计算视准轴误差的法方程。实验结果表明,提出的方法不需要特殊的定标场，只需在数据采集过程中以不同方位扫描同一平面特征就可以计算出视准轴误差，且计算结果可靠有效。

Bore-sight error estimation for the mobile mapping system (MMS) plays an extremely important role in the quality of the point cloud, especially when the MMS scans the same area from different routes and angles, unideal bore-sight error estimation seriously reduce the point cloud registration accuracy. For fine calibration of the bore-sight error, a bore-sight error self-calibration method based on plane fetures of MMS is propsed, the computing model of point cloud of MMS is given, the Gauss-Helmert adjustment model is established based on plane features of MMS, and the solution is derived based on the least square method. The experiment results show that the bore-sight error is easily computed by the proposed method, and the computation result is reliable and effective