ABSTRACT:An increasing number of hand-held scanning systems by different manufacturers are becoming available on the market. However, their geometrical performance is little-known to many users. Therefore the Laboratory for Photogrammetry & Laser Scanning of the HafenCity University Hamburg has carried out geometrical accuracy tests with the following systems in co-operation with the Bochum University of Applied Sciences (Laboratory for Photogrammetry) as well as the Humboldt University in Berlin (Institute for Computer Science): DOTProduct DPI-7, Artec Spider, Mantis Vision F5 SR, Kinect v1 + v2, Structure Sensor and Google's Project Tango. In the framework of these comparative investigations geometrically stable reference bodies were used. The appropriate reference data were acquired by measurement with two structured light projection systems (AICON smartSCAN and GOM ATOS I 2M). The comprehensive test results of the different test scenarios are presented and critically discussed in this contribution.

To enter the Port of Hamburg, one of Europe’s busiest ports all vessels need to navigate around 145 km along the Elbe river, a tide influenced navigation channel. To protect the Elbe shoreline from erosion and to channel the waterway groynes (rigid hydraulic structures) have been built along the river. In the past years since ca. 2001 there has been a large increase in damage of groynes structural integrity at parts of the German waterways. The reason for this was determined in the ever growing size of container vessels passing by and inducing long periodical primary waves which have such a force that they erode the groynes rock structure. To analyse and improve the groynes structural resistance for vessel-induced long periodical wave loads an in-situ study is carried out at Juelssand, located at the Elbe river estuary. Over a period of two years the change of the geometrical structure of two different groyne shapes is monitored automatically by utilising two terrestrial laser scanners mounted in protective housings, located each on a 12 m high platform. The self-contained monitoring systems perform scanning of the two groynes one to two times a day at low tide, as the structures are fully submerged at high tide. The long-periodical wave loads are also determined using pressure sensors in each groyne. To correlate the captured data with vessel events and analyse the effects, vessel related parameters are recorded utilizing the Automatic Identification System (AIS). <br><br> This paper describes the automated processes for the data acquisition and focusses on the deformation that is calculated using current, extended and new algorithms of the Point Cloud Library. It shows the process chain from the acquisition of raw scan files from an elevated station to the filtering of point cloud, the registration, the calculation of pointwise changes and the aggregation to a grid for later correlation with ship parameters. When working outdoor in all kinds of weather conditions, the processes and equipment need to be robust and account for various cases and situations. This is especially applicable for the algorithms, which need to be adaptable to different scenarios like wet surfaces or snow and unwelcome objects ranging from flotsam to birds sitting on the groyne. At the current stage of the research, deformation in the magnitude of a couple of decimetres is observable. The orientation and location of the deformation is on the seaward side and corresponds to the lower distance of vessels leaving the harbour.

ABSTRACT:For mapping of building interiors various 2D and 3D indoor surveying systems are available today. These systems essentially differ from each other by price and accuracy as well as by the effort required for fieldwork and post-processing. The Laboratory for Photogrammetry & Laser Scanning of HafenCity University (HCU) Hamburg has developed, as part of an industrial project, a lowcost indoor mapping system, which enables systematic inventory mapping of interior facilities with low staffing requirements and reduced, measurable expenditure of time and effort. The modelling and evaluation of the recorded data take place later in the office. The indoor mapping system of HCU Hamburg consists of the following components: laser range finder, panorama head (pan-tilt-unit), single-board computer (Raspberry Pi) with digital camera and battery power supply. The camera is pre-calibrated in a photogrammetric test field under laboratory conditions. However, remaining systematic image errors are corrected simultaneously within the generation of the panorama image. Due to cost reasons the camera and laser range finder are not coaxially arranged on the panorama head. Therefore, eccentricity and alignment of the laser range finder against the camera must be determined in a system calibration. For the verification of the system accuracy and the system calibration, the laser points were determined from measurements with total stations. The differences to the reference were 4-5mm for individual coordinates.