Performance evaluation of terrestrial laser scanners—a review

Muralikrishnan, Balasubramanian

doi:10.1088/1361-6501/abdae3

Cited by 54 publications

(23 citation statements)

References 78 publications

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“…TLS represents, of course, the most powerful class of instruments. It represents the state-of-the-art for the acquisition of ultra-detailed 3D models [67]. From the commercial point of view, different instruments vary in terms of velocity of acquisition, resolution, and distance of acquisition and these characteristics affect the instrument cost (Table 8).…”

Section: Tlsmentioning

confidence: 99%

“…Besides, the proper functioning of these instruments can also be influenced by the severe conditions of the environment [6]: the presence of high levels of humidity and consequent reflective surfaces can create electric problems to the instruments and reduce the reflectivity of cave faces (as the performance of the device). Under such conditions, the resulting point cloud could be affected by high noise and localized representation errors, which can be easily identified and eliminated, allowing proper scans registration [67].…”

Section: Tlsmentioning

confidence: 99%

“…Unlike the individual scans acquired with TLS, it is impossible to manually remove any errors in PLS products. This limitation increases the noise of the final point cloud generation and could also create some registration errors [67]. These critical errors cannot be easily removed even with post-processing software.…”

Section: Plsmentioning

confidence: 99%

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Survey Solutions for 3D Acquisition and Representation of Artificial and Natural Caves

et al. 2021

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A three-dimensional survey of natural caves is often a difficult task due to the roughness of the investigated area and the problems of accessibility. Traditional adopted techniques allow a simplified acquisition of the topography of caves characterized by an oversimplification of the geometry. Nowadays, the advent of LiDAR and Structure from Motion applications eased three-dimensional surveys in different environments. In this paper, we present a comparison between other three-dimensional survey systems, namely a Terrestrial Laser Scanner, a SLAM-based portable instrument, and a commercial photo camera, to test their possible deployment in natural caves survey. We presented a comparative test carried out in a tunnel stretch to calibrate the instrumentation on a benchmark site. The choice of the site is motivated by its regular geometry and easy accessibility. According to the result obtained in the calibration site, we presented a methodology, based on the Structure from Motion approach that resulted in the best compromise among accuracy, feasibility, and cost-effectiveness, that could be adopted for the three-dimensional survey of complex natural caves using a sequence of images and the structure from motion algorithm. The methods consider two different approaches to obtain a low resolution complete three-dimensional model of the cave and ultra-detailed models of most peculiar cave morphological elements. The proposed system was tested in the Gazzano Cave (Piemonte region, Northwestern Italy). The obtained result is a three-dimensional model of the cave at low resolution due to the site’s extension and the remarkable amount of data. Additionally, a peculiar speleothem, i.e., a stalagmite, in the cave was surveyed at high resolution to test the proposed high-resolution approach on a single object. The benchmark and the cave trials allowed a better definition of the instrumentation choice for underground surveys regarding accuracy and feasibility.

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Section: Tlsmentioning

confidence: 99%

Section: Tlsmentioning

confidence: 99%

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Survey Solutions for 3D Acquisition and Representation of Artificial and Natural Caves

et al. 2021

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“…Effects of rain, fog and snow on LiDAR measurements have been investigated in (Rasshofer et al, 2011) for the case of automotive LiDAR. Further, (Muralikrishnan, 2021) discusses a study on performance evaluation of TLS and lists a summary of possible error sources. (Friedli et al, 2019) and (Schröder and Nowacki, 2021) both deal with refraction effects due to atmospheric conditions in terrestrial laser scanning.…”

Section: Related Work On Error Sourcesmentioning

confidence: 99%

Environmental Influences on the Stability of a Permanently Installed Laser Scanner

Kuschnerus

Schröder

Lindenbergh

2021

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. The advancement of permanently measuring laser scanners has opened up a wide range of new applications, but also led to the need for more advanced approaches on error quantification and correction. Time-dependent and systematic error influences may only become visible in data of quasi-permanent measurements. During a scan experiment in February/March 2020 point clouds were acquired every thirty minutes with a Riegl VZ-2000 laser scanner, and various other sensors (inclination sensors, weather station and GNSS sensors) were used to survey the environment of the laser scanner and the study site. Using this measurement configuration, our aim is to identify apparent displacements in multi-temporal scans due to systematic error influences and to investigate data quality for assessment of geomorphic changes in coastal regions. We analyse scan data collected around two storm events around 09/02/2020 (Ciara) and around 22/02/2020 (Yulia) and derive the impact of heavy storms on the point cloud data through comparison with the collected auxiliary data. To investigate the systematic residuals on data acquired by permanent laser scanning, we extracted several stable flat surfaces from the point cloud data. From a plane fitted through the respective surfaces of each scan, we estimated the mean displacement of each plane with the respective root mean square errors. Inclination sensors, internal and external, recorded pitch and roll values during each scan. We derived a mean inclination per scan (in pitch and roll) and the standard deviation from the mean as a measure of the stability of the laser scanner during each scan. Evaluation of the data recorded by a weather station together with knowledge of the movement behaviour, allows to derive possible causes of displacements and/or noise and correction models. The results are compared to independent measurements from GNSS sensors for validation. For wind speeds of 10 m/s and higher, movements of the scanner considerably increase the noise level in the point cloud data.

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“…Part of its contour information could be obtained from any angle of view, with which the spherical center and radius could be effectively solved. Therefore, it was widely used in the multi-class application research of terrestrial LiDAR, such as the calibration and check of a terrestrial laser scanner, scanning accuracy evaluation, registration, and georeferencing of point clouds et al [6][7][8][9][10][11]. The geometric center of the sphere target was inside the sphere and could not be obtained directly through measurement.…”

Section: Introductionmentioning

confidence: 99%

An Algorithm for Fitting Sphere Target of Terrestrial LiDAR

Shi

Zhao

Wang

et al. 2021

Sensors

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The sphere target played a vital role in terrestrial LiDAR applications, and solving its geometrical center based on point cloud was a widely concerned problem. In this study, we proposed a newly finite random search algorithm for sphere target fitting. Based on the point cloud data and the geometric characteristics of the sphere target, the algorithm realized the target sphere fitting from the perspective of probability and statistics with the help of parameter estimation. Firstly, an initial constraint space was constructed, and the initial center and radius were determined by finite random search. Then, the optimal spherical center and radius were determined gradually through continuous iterative optimization. We tested the algorithm with the simulated and realistic point cloud. Experimental results showed that the proposed algorithm could be effectively applied to all kinds of point cloud fitting. When the coverage rate was bigger than 30%, the fitting accuracy could reach within 0.01 mm for all kinds of point clouds. When the coverage rate was less than 20%, the fitting accuracy can reach ±1 mm, although it was reduced to a certain extent.

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Performance evaluation of terrestrial laser scanners—a review

Cited by 54 publications

References 78 publications

Survey Solutions for 3D Acquisition and Representation of Artificial and Natural Caves

Survey Solutions for 3D Acquisition and Representation of Artificial and Natural Caves

Environmental Influences on the Stability of a Permanently Installed Laser Scanner

An Algorithm for Fitting Sphere Target of Terrestrial LiDAR

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