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Investigations of high precision terrestrial laser scanning with emphasis on the development of a robust close-range 3D-laser scanning system / Hans Martin Zogg (2008)
Titre : Investigations of high precision terrestrial laser scanning with emphasis on the development of a robust close-range 3D-laser scanning system Type de document : Thèse/HDR Auteurs : Hans Martin Zogg, Auteur Editeur : Zurich : Institut für Geodäsie und Photogrammetrie IGP - ETH Année de publication : 2008 Collection : IGP Mitteilungen, ISSN 0252-9335 num. 098 Importance : 171 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-906467-78-8 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Acquisition d'image(s) et de donnée(s)
[Termes IGN] acquisition d'images
[Termes IGN] données localisées 3D
[Termes IGN] étalonnage d'instrument
[Termes IGN] lever souterrain
[Termes IGN] modélisation géométrique de prise de vue
[Termes IGN] précision géométrique (imagerie)
[Termes IGN] semis de points
[Termes IGN] télémètre laser terrestre
[Termes IGN] télémétrie laser terrestreIndex. décimale : 35.11 Géométrie et qualité des prises de vues Résumé : (Auteur) In recent years, numerous measurement systems and techniques have become available on the market for three-dimensional (3D) surveying of objects. Largely due to the increasing need of 3D-data, fast area-wide 3D-measurement methods are in high demand. In the world of surveying and the field of engineering geodesy, terrestrial laser scanning has been established as a newer measurement method for fast, area-wide SD-surveying. Terrestrial laser scanners measure distances and angles to objects without any contact. The actual geometry information of the scanned object has to be derived from a resulting 3D-point cloud in post-processing.
After the initial hype of terrestrial laser scanning, a slight disillusionment set in. Projects were not profitable or failed due to insufficient knowledge about laser scanning technology and its specifics. In addition, the hardware and software products available on the market often do not meet the requirements of specific applications. Thus, the selection of convenient applications for a particular terrestrial laser scanning system, the sensitivity in terms of environmental conditions, or the extensive post-processing of laser scanning data are just a few of the difficulties in using laser scanning technology. As a result, terrestrial laser scanning is rarely used for projects in engineering geodesy. Even though terrestrial laser scanning offers great potential, new fields of application have yet to be investigated.
This thesis originated from a project addressing the development of a qualified measurement system based on terrestrial laser scanning for the surveying of underground utility caverns in the field of water and sewage engineering. There was no convenient measurement system available on the market when the project started in 2005. There are three main objectives of this thesis: the development of a cost-efficient robust close-range 3D-laser scanning system largely for surveying underground utility caverns, the calibrations and investigations of terrestrial laser scanners with focus on the newly developed measurement system, and the development of new fields of application for terrestrial laser scanning. Moreover, this thesis contributes to the area of terrestrial laser scanning by offering better knowledge on its integration into engineering geodesy.
For the hardware development, the 2D-laser scanner SICK LMS200-30106 by Sick AG was selected and implemented as a distance measurement unit measuring distances and angles. This unit is well known and established in industrial applications and in the field of robotics. In addition, all components that were used for the close-range 3D-laser scanning system were selected according to predefined requirements. These requirements were strongly related to the application of the measurement of underground utility caverns. Furthermore, this thesis shows that an appropriate calibration of the close-range 3D-laser scanning system - the distance measurement unit specifically - allows its application in the field of engineering geodesy. Thus, appropriate calibration routines were developed, and intensive additional investigations of the measurement systems enabled the verification of the measurement accuracy and performance.
The close-range terrestrial 3D-laser scanner ZLS07 resulted from the development of a 3D-measurement system based on the terrestrial laser scanning technology. The ZLS07 is a robust and reliable measurement system that fulfils the requirements focused on surveying of underground utility caverns. Its specific limitations lie in the measurement range, accuracy, and angular resolution. However, the ZLS07 has been successfully established as a new measurement instrument at the surveying department of the city of Zurich. In addition to the hardware developments, an approach for automatic geometry modelling from 3D-point clouds was developed, tested, and discussed for post-processing 3D-point clouds of underground utility caverns. Furthermore, the ZLS07 was successfully used in other applications, such as the damage detection of an incinerator or the reverse engineering of technical constructions.Note de contenu : 1 Introduction
1.1 Motivation
1.2 Aims of the Thesis.
1.3 Outline
2 High Precision Terrestrial Laser Scanning
2.1 Terrestrial Laser Scanning in Engineering Geodesy
2.2 Specifications of Terrestrial Laser Scanners
2.3 The Measurement System "Terrestrial Laser Scanner"
2.4 Applications of Terrestrial Laser Scanning.
2.5 Remarks.
3 Development of Terrestrial Laser Scanner ZLS07
3.1 Requirements
3.2 Components of the ZLS07
3.3 Configuration of Terrestrial Laser Scanner ZLS07
3.4 Measurement Coordinate Systems
3.5 Software
3.6 Result of a Scan
3.7 Discussion
4 Calibration of Terrestrial Laser Scanner ZLSO 7
4.1 Calibration of Geodetic Sensors
4.2 Distance Measurement Unit
4.3 Errors of Axes
4.4 Synchronisation of Rotation Table and Distance Measurement Unit
4.5 Review
5 Validation of Terrestrial Laser Scanner ZLS07
5.1 Angle Measurement System
5.2 Wobbling of Vertical Axis
5.3 3D-Measurement Quality
5.4 Review
6 Acquisition of Underground Utility Caverns
6.1 Overview
6.2 ZLS07 for Acquisition of Underground Utility Caverns
6.3 Data Post-Processing Workflow
6.4 Review
7 Automatic Geometry Modelling
7.1 Data Modelling Requirements
7.2 Previous Work
7.3 Development of an Approach for Automatic Cavern Detection
7.4 Results
7.5 Review
8 Various Applications for Terrestrial Laser Scanner ZLS07
8.1 Damage Detection of an Incinerator
8.2 Reverse Engineering at the Overflow Construction of Nalps Dam (CH).
8.3 Review
9 Summary
9.1 Conclusions
9.2 Outlook
References
A Appendix
A. 1 Rotation Table ETH Zurich.
A.2 Software
A.3 Fourier-SeriesNuméro de notice : 15459 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse étrangère DOI : 10.3929/ethz-a-005679006 En ligne : http://dx.doi.org/10.3929/ethz-a-005679006 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=62725 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 15459-01 35.11 Livre Centre de documentation En réserve M-103 Disponible
Titre : Library concept and design for lidar data processing Type de document : Article/Communication Auteurs : Nicolas David , Auteur ; Clément Mallet , Auteur ; Frédéric Bretar, Auteur Editeur : International Society for Photogrammetry and Remote Sensing ISPRS Année de publication : 2008 Collection : International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, ISSN 1682-1750 num. 38-4/C1 Conférence : GEOBIA 2008, international conference on geographic object-based image analysis, Pixels, Objects, Intelligence GEOgraphic Object Based Image Analysis for the 21st Century 05/08/2008 08/08/2008 Calgary Alberta - Canada Open Access Proceedings Importance : 6 p. Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] topologie capteur
[Termes IGN] UMLRésumé : (auteur) Airborne Laser Scanning (ALS) is nowadays a very popular technology providing accurate altimetric data for remote sensing andmapping purposes. Therefore, many algorithms have been developed so far to process these data, depending on the application. Nevertheless, for researchers, it is still a challenging task to handle large amount of heterogeneous data and adapt them for their specificaim and processes. This paper reports the thoughts and the strategy developed by the MATIS laboratory of the Institut Ǵeographique National (IGN) about an efficient lidar library design in order to tackle these issues. The specification of an efficient and versatile lidar file format is first discussed. The standard and current lidar file formats are first reviewed and a new one, dedicated to raw data processing with high feature modularity is presented. Besides, existing code components and libraries are reviewed with regard to their compatibility for research development. Modularity, availability and license conditions are here the main selection criteria. Then, differents strategies for large data set handling are summarized and extended by a new solution, both based on lidar strip and raw sensor topology. These workflows are illustrated through a UML activity diagram dedicated to 2D spatial query. Finally, the current status of the implementation of this federative software as well as the perspectives of development are sketched. Numéro de notice : C2008-021 Affiliation des auteurs : MATIS (1993-2011) Thématique : IMAGERIE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : sans En ligne : https://www.isprs.org/proceedings/XXXVIII/4-C1/Sessions/Session2/6703_David_Proc [...] Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=94304
Titre : Lidar data classification using hierarchical K-means clustering Type de document : Article/Communication Auteurs : Frédéric Bretar, Auteur ; Nicolas David , Auteur ; Nesrine Chehata , Auteur Editeur : International Society for Photogrammetry and Remote Sensing ISPRS Année de publication : 2008 Collection : International Archives of Photogrammetry and Remote Sensing, ISSN 0252-8231 num. 37-B3 Conférence : ISPRS 2008, 21st ISPRS world congress 03/07/2008 11/07/2008 Pékin Chine OA ISPRS Archives Importance : pp 325 - 330 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie
[Termes IGN] analyse de groupement
[Termes IGN] classification ascendante hiérarchique
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] filtrage de points
[Termes IGN] modèle numérique de terrain
[Termes IGN] pente
[Termes IGN] semis de pointsRésumé : (Auteur) This paper deals with lidar point cloud filtering and classification for modelling the Terrain and more generally for scene segmentation. In this study, we propose to use the well-known K-means clustering algorithm that filters and segments (point cloud) data. The K-means clustering is well adapted to lidar data processing, since different feature attributes can be used depending on the desired classes. Attributes may be geometric or textural when processing only 3D-point cloud but also spectral in case of joint use of optical images and lidar data. The algorithm is based on a fixed neighbourhood size that can deal with steep relief covered by dense vegetation, mountainous area and terrains which present micro-relieves. The novelty of our algorithm consists in providing a hierarchical splitting clustering to extract ground points. The number of cluster splits is used to qualify automatically the classification reliability. This point is rarely treated in previous works. Moreover landscape predictors such as slope map are used to locally refine the classification. Finally, the methodology is extended to a multi-scale framework. The hierarchical clustering is processed from coarse DTM resolution to finer one. This implementation improves the algorithm robustness and ensures reliable ground estimation. Quantitative and qualitative results are presented on the ISPRS data set. Numéro de notice : 10664 Affiliation des auteurs : MATIS (1993-2011) Thématique : IMAGERIE Nature : Communication DOI : sans En ligne : https://www.isprs.org/proceedings/XXXVII/congress/3b_pdf/65.pdf Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=64215 Documents numériques
en open access
10664_isprs_2008_chehata.pdfAdobe Acrobat PDF Managing full waveform Lidar data : a challenging task for the forthcoming years / Frédéric Bretar (2008)
Titre : Managing full waveform Lidar data : a challenging task for the forthcoming years Type de document : Article/Communication Auteurs : Frédéric Bretar, Auteur ; Adrien Chauve , Auteur ; Boris Jutzi, Auteur ; Clément Mallet , Auteur Editeur : International Society for Photogrammetry and Remote Sensing ISPRS Année de publication : 2008 Collection : International Archives of Photogrammetry and Remote Sensing, ISSN 0252-8231 num. 37-B1 Conférence : ISPRS 2008, 21st ISPRS world congress 03/07/2008 11/07/2008 Pékin Chine OA ISPRS Archives Importance : pp 85 - 92 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] lidar à retour d'onde complète
[Termes IGN] traitement de données localiséesRésumé : (Auteur) This paper proposes to summarize researches and new advances in full waveform lidar data. After a description of full waveform lidar systems, we will review different methodologies developed to process the waveforms (modelling, correlation, stacking). Applications on urban and vegetated areas are then presented. The paper ends up with recommendations on future research themes. Numéro de notice : 10666 Affiliation des auteurs : MATIS (1993-2011) Thématique : IMAGERIE Nature : Communication DOI : sans En ligne : https://www.isprs.org/proceedings/XXXVII/congress/1_pdf/69.pdf Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=64217 Documents numériques
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10666_isprs_2008_bretar.pdfAdobe Acrobat PDF
Titre : Range imaging : investigation, calibration and development Type de document : Thèse/HDR Auteurs : Timo Kahlmann, Auteur Editeur : Zurich : Institut für Geodäsie und Photogrammetrie IGP - ETH Année de publication : 2008 Collection : IGP Mitteilungen, ISSN 0252-9335 num. 097 Importance : 142 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-906467-72-6 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Acquisition d'image(s) et de donnée(s)
[Termes IGN] acquisition d'images
[Termes IGN] angle d'incidence
[Termes IGN] caméra numérique
[Termes IGN] capteur imageur
[Termes IGN] données localisées 3D
[Termes IGN] étalonnage de chambre métrique
[Termes IGN] mesurage de distances
[Termes IGN] métrologieIndex. décimale : 35.11 Géométrie et qualité des prises de vues Résumé : (Auteur) In recent years, numerous sensor systems for the capturing of three-dimensional environments and objects have become available. Besides laser scanners and geodetic total stations, stereo vision and triangulation-based systems have to be exemplarily named here. Especially laser scanners have beco-me state-of-the-art regarding speed and accuracy with respect to their ability to acquire objects up to a size of several tens of meters. A main drawback of laser scanners is their sequential mode of operation. They measure point by point. A few years ago, a new technology was developed to full functionality which is able to capture the environment simultaneously with a high resolution. So-called range imaging (RIM) or flash ladar cameras, which are based on digital imaging technology, merged with the ability to measure the distance to the corresponding object point in each pixel. Distance measurement is either based on the direct or indirect Time-of-Flight principle. Due to its parallel acquisition with up to video frame rate, RIM cameras are even able to capture moving objects. With respect to the optical dependencies, 3-D coordinates of the captured scene are derived. The nominal precision of the distance measurement is a few millimeters. RIM could become the technology of choice for many applications if the properties and characteristics become stable and predictable. Automotive, robotics, and safety systems can be named, for example. Significant deviations between nominal and measured coordinates occur in a range of several centimeters. Only intensive investigations can help to reach the theoretical limitations here.
This thesis deals with several aspects which affect the measurements of RIM cameras. First, a short introduction into the basic technologies that are associated with RIM is presented. Besides imaging and distance measurement methods, two basic principles of RIM are distinguished. Furthermore, the focus is laid on the specific limitations. During this work three different cameras have become available: the SwissRanger SR-2 and the SR-3000 from CSEM / MESA Imaging (Switzerland) and later on the 3k-S from PMDtec (Germany). These three cameras are based on the indirect Time-of-Flight principle and are equipped with different sophisticated features. Besides integrated calibration and correction functionality, the suppression of background illumination is one of the main features. However, these cameras are only intended to be highly developed demonstrators. An adaption to the specific application areas, like automotive or robotics, leads to specialized properties according to the desired claims.
The analysis of the existing camera types helps to understand the technology more closely. The raw data of the analyzed cameras is not more accurate than a few centimeters. In order to investigate the properties of the available cameras, special experimental setups had to be developed. The main part of this work deals with the investigation and calibration of the components of RIM cameras. The geometrical deviations of the optical system are addressed by means of a photogrammetric camera calibration. The distance measurement system is analyzed with respect to the deviations and statistics. Thus, limitations of both precision and accuracy are indicated. Besides the influences of the scattering effect, integration time, emitting system, and angle of incidence, target reflectivity, external and internal temperature, and finally linearity and fixed-pattern noise are discussed. Further on, an approach for a system calibration process is presented. Due to the complexity of the influencing parameters, a complete correction of the measurement data with respect to the diverse influencing parameters has not been reached. But the highly systematic dependencies promise sophisticated calibration routines in the future. This work contributes to the understanding of the sensors.
Nevertheless, the investigated influences of temperature on the distance measurement accuracy, which is indicated as a measure for the deviation between true and nominal value, have been significantly reduced by an uncoupling of the distance measurement and the external and internal temperature by means of a relative measurement setup. The introduction of an internal reference light path helps to reduce the temperature's influence on the distance data to a large degree. The experimental setup and the proof of the functionality complete this work.
The results of the numerous investigations will help to increase the accuracy of RIM cameras, especially vital for several applications, in need of improved accuracies. It has been shown that the theoretical limits lie within reach with help of suitably sophisticated calibration procedures.Note de contenu : 1 Introduction
1.1 Motivation
1.1.1 Application: Tracking of People in Indoor Environments
1.1.2 Application: Automotive
1.2 Aims of This Thesis
1.3 Structure
2 3-D Range Imaging Camera Technology
2.1 Distance Measurement
2.1.1 Time-of-Flight Distance Measurement
2.1.2 Phase-Difference Distance Measurement
2.1.2.1 Working Principle
2.1.2.2 Characteristics and Limitations
2.2 Imaging Technology
2.2.1 Charge Collection
2.2.2 Charge Transfer and Quantification
2.3 Range Imaging Sensors and Realizations
2.3.1 Combined CCD/CMOS Technology
2.3.2 Photonic Mixer Device (PMD) in CMOS Technology
2.3.3 Arrays of Single Photon Avalanche Diodes in CMOS Technology
2.3.4 Shuttered Time-of-Flight
2.4 3-D Coordinate Measurement Principle
3 Investigation and Calibration
3.1 Definitions
3.2 Photogrammetric Camera Calibration
3.2.1 SR-2
3.2.2 SR-3000
3.3 Distance Measurement
3.3.1 Scattering
3.3.2 Integration Time
3.3.3 Statistics
3.3.4 Emitting System (LEDs)
3.3.5 Target Reflectivity
3.3.6 Angle of Incidence
3.3.7 Temperature
3.3.8 Distance / Linearity
3.3.9 Fixed-Pattern Noise
3.3.10 Mixed Pixel
3.4 Integral RIM Camera Calibration
3.5 Conclusion
4 Implementation of an Internal Reference
4.1 Theory
4.2 Implementation: ETH Solution
4.3 Validation
4.3.1 Warm Up
4.3.2 External Temperature
4.3.2.1 Experiment 1: Temperature Variation and Long-Term Acclimatization
4.3.2.2 Experiment 2: Extreme Temperatures
4.3.2.3 Experiment 3: Two External Distances
4.4 Conclusion and Outlook
5 Conclusions
5.1 Summary
5.2 Outlook
Appendix
A SwissRanger SR-2 Specifications
B SwissRanger SR-3000 Specifications
C Photogrammetric Calibration Results for the SR-3000 Provided by Australia
D Distance Histograms SR-2 and SR-3000
E Warmup Sequences SR-2 and SR-3000Numéro de notice : 15458 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse étrangère DOI : 10.3929/ethz-a-005465562 En ligne : http://dx.doi.org/10.3929/ethz-a-005465562 Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=62724 Réservation
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