Details
| Original language | English |
|---|---|
| Pages (from-to) | 81-88 |
| Number of pages | 8 |
| Journal | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Volume | IV-4 |
| Publication status | Published - 19 Sept 2018 |
| Event | 2018 ISPRS TC IV Mid-Term Symposium on 3D Spatial Information Science - The Engine of Change - Delft, Netherlands Duration: 1 Oct 2018 → 5 Oct 2018 |
Abstract
In recent years, the requirements in the industrial production, e.g., ships or planes, have been increased. In addition to high accuracy requirements with a standard deviation of 1 mm, an efficient 3D object capturing is required. In terms of efficiency, kinematic laser scanning (k-TLS) has been proven its worth in recent years. It can be seen as an alternative to the well established static terrestrial laser scanning (s-TLS). However, current k-TLS based multi-sensor-systems (MSS) are not able to fulfil the high accuracy requirements. Thus, a new k-TLS based MSS and suitable processing algorithms have to be developed. In this contribution a new k-TLS based MSS will be presented. The main focus will lie on the (geo-)referencing process. Due to the high accuracy requirements, a novel procedure of external (geo-)referencing is used here. Hereby, a mobile platform, which is equipped with a profile laser scanner, will be tracked by a laser tracker. Due to the fact that the measurement frequency of the laser scanner is significantly higher than the measurement frequency of the laser tracker a direct point wise (geo-)referencing is not possible. To enable this a Kalman filter model is set up and implemented. In the prediction step each point is shifted according to the determined velocity of the platform. Because of the nonlinear motion of the platform an iterative extended Kalman filter (iEKF) is used here. Furthermore, test measurements of a panel with the k-TLS based MSS and with s-TLS were carried out. To compare the results, the 3D distances with the M3C2-algorithm between the s-TLS 3D point cloud and the k-TLS 3D point cloud are estimated. It can be noted, that the usage of a system model for the (geo-)referencing is essential. The results show that the mentioned high accuracy requirements have been achieved.
Keywords
- (Geo-)referencing, Filtering, Indoor Positioning, Industrial Surveying, Kinematic Laser Scanning, Mobile Mapping
ASJC Scopus subject areas
- Earth and Planetary Sciences(all)
- Earth and Planetary Sciences (miscellaneous)
- Environmental Science(all)
- Environmental Science (miscellaneous)
- Physics and Astronomy(all)
- Instrumentation
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In: ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. IV-4, 19.09.2018, p. 81-88.
Research output: Contribution to journal › Conference article › Research › peer review
}
TY - JOUR
T1 - High Accurate Pointwise (GEO-)Referencing Of A K-TLS Based Multi-Sensor-System
AU - Hartmann, J.
AU - Trusheim, P.
AU - Alkhatib, H.
AU - Paffenholz, J. A.
AU - Diener, D.
AU - Neumann, I.
N1 - Funding Information: The presented methods and results were obtained in the scope of the collaborative research project FINISH−Exakte und schnelle Geometrieerfassung sowie Datenauswertung von Schiffsober-flächen für effiziente Beschichtungsprozesse and are part of the subproject Entwicklung von Algorithmen und Qualitätsprozessen für ein neuartiges kinematisches terrestrisches Laserscanningsys-tem (03SX406D), which is funded by the German Federal Ministry for Economic Affairs and Energy (BMWi). All authors would like to thank all project partners for their helpful assistance within the test measurements.
PY - 2018/9/19
Y1 - 2018/9/19
N2 - In recent years, the requirements in the industrial production, e.g., ships or planes, have been increased. In addition to high accuracy requirements with a standard deviation of 1 mm, an efficient 3D object capturing is required. In terms of efficiency, kinematic laser scanning (k-TLS) has been proven its worth in recent years. It can be seen as an alternative to the well established static terrestrial laser scanning (s-TLS). However, current k-TLS based multi-sensor-systems (MSS) are not able to fulfil the high accuracy requirements. Thus, a new k-TLS based MSS and suitable processing algorithms have to be developed. In this contribution a new k-TLS based MSS will be presented. The main focus will lie on the (geo-)referencing process. Due to the high accuracy requirements, a novel procedure of external (geo-)referencing is used here. Hereby, a mobile platform, which is equipped with a profile laser scanner, will be tracked by a laser tracker. Due to the fact that the measurement frequency of the laser scanner is significantly higher than the measurement frequency of the laser tracker a direct point wise (geo-)referencing is not possible. To enable this a Kalman filter model is set up and implemented. In the prediction step each point is shifted according to the determined velocity of the platform. Because of the nonlinear motion of the platform an iterative extended Kalman filter (iEKF) is used here. Furthermore, test measurements of a panel with the k-TLS based MSS and with s-TLS were carried out. To compare the results, the 3D distances with the M3C2-algorithm between the s-TLS 3D point cloud and the k-TLS 3D point cloud are estimated. It can be noted, that the usage of a system model for the (geo-)referencing is essential. The results show that the mentioned high accuracy requirements have been achieved.
AB - In recent years, the requirements in the industrial production, e.g., ships or planes, have been increased. In addition to high accuracy requirements with a standard deviation of 1 mm, an efficient 3D object capturing is required. In terms of efficiency, kinematic laser scanning (k-TLS) has been proven its worth in recent years. It can be seen as an alternative to the well established static terrestrial laser scanning (s-TLS). However, current k-TLS based multi-sensor-systems (MSS) are not able to fulfil the high accuracy requirements. Thus, a new k-TLS based MSS and suitable processing algorithms have to be developed. In this contribution a new k-TLS based MSS will be presented. The main focus will lie on the (geo-)referencing process. Due to the high accuracy requirements, a novel procedure of external (geo-)referencing is used here. Hereby, a mobile platform, which is equipped with a profile laser scanner, will be tracked by a laser tracker. Due to the fact that the measurement frequency of the laser scanner is significantly higher than the measurement frequency of the laser tracker a direct point wise (geo-)referencing is not possible. To enable this a Kalman filter model is set up and implemented. In the prediction step each point is shifted according to the determined velocity of the platform. Because of the nonlinear motion of the platform an iterative extended Kalman filter (iEKF) is used here. Furthermore, test measurements of a panel with the k-TLS based MSS and with s-TLS were carried out. To compare the results, the 3D distances with the M3C2-algorithm between the s-TLS 3D point cloud and the k-TLS 3D point cloud are estimated. It can be noted, that the usage of a system model for the (geo-)referencing is essential. The results show that the mentioned high accuracy requirements have been achieved.
KW - (Geo-)referencing
KW - Filtering
KW - Indoor Positioning
KW - Industrial Surveying
KW - Kinematic Laser Scanning
KW - Mobile Mapping
UR - http://www.scopus.com/inward/record.url?scp=85056270523&partnerID=8YFLogxK
U2 - 10.5194/isprs-annals-IV-4-81-2018
DO - 10.5194/isprs-annals-IV-4-81-2018
M3 - Conference article
AN - SCOPUS:85056270523
VL - IV-4
SP - 81
EP - 88
JO - ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
JF - ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
SN - 2194-9042
T2 - 2018 ISPRS TC IV Mid-Term Symposium on 3D Spatial Information Science - The Engine of Change
Y2 - 1 October 2018 through 5 October 2018
ER -