Calibration of a Terrestrial Laser Scanner - Institute of Geodesy and ...

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List of Figures3.22 Residuals of the horizontal encoder 453.23 Residuals of the vertical encoder 473.24 Angular3.25 Principle3.26 AdjustingResolution 48of the laser scanner and the axes of rotation 49Circle 513.27 Aliasing effects based on sampling 533.28 Laser scanner mounted on a granite table directly without usinga tribrach 553.29 Inclination values of three data series 563.30 Amplitude spectrum derived by Fourier analysis 573.31 Inclination values of a data series including the sine curve of the levellingerror 583.32 Collimation error applied to the laser scanner 593.33 Eccentricityof the collimation axis 603.34 Influence of the errors of the collimation axis in horizontal direction 613.35 Eccentricity of the collimation axis in horizontal direction 623.36 Influence of the errors of the collimation axis in vertical direction 633.37 Intensity of reflected laser beam 653.38 Influence of the angle of incidence on the size of the footprintof the laser beam 663.39 Influence of the angle of incidence to the distance precision 663.40 Influence of the angle of incidence to the distance accuracy 673.41 Influence of the angle3.42 Surface backscatteringof incidence 68and refractional effects 683.43 Distance accuracy of materials 693.44 Distance accuracy of metal 693.45 3D single point precision 713.46 3D object point accuracy 714.1 Geometrical interpretation of mixed pixels 754.2 Mixed pixels occurred near objects 754.3 Effect of multipath 764.4 Noise in laser scanning data oriented along the measuringdirection 774.5 Types of artificial targets used for laser scanning 814.6 Examples for NURBS modeling 844.7 CAD 855.1 Laser scanner mounted on the test trolleyof the calibration track line 895.2 Azimuthal orientation of the laser scanner 905.3 Installation of a prismontopof the laser scanner 915.4 Experimental setup for deriving the rotation time T directly 935.5 Mathematical relations for deriving center angle a (method 1) 945.6 Influence of a deflection angle S of the autocollimation mirror 965.7 Arrangement of the two photodiodes 975.8 Measured time delay At for 12.5 rps, 25 rps and 33 rps 985.9 Work flow for total station data 1035.10 Samplinginterval of total station 1045.11 Polynomial interpolation 1055.12 The Kaiman Filter cycle 1076.1 Road section to be investigated 1106.2 Cross section of one lane of the road Ill6.3 Point cloud of road section Ill
List of Figures 1556.4 Inlet gutter, vegetated6.5 Calculated streams based on the topologicalroad shoulder and road 112model 1136.6 Calculated catchment areas for the inlet gutter 1136.7 Laser scanner inside excavated niche 1156.8 Point cloud representing the final geometry of the tunnel 1156.9 Location of the experimental tunnel, the reference points and the arrays of object points.. .1166.10 Geological discontinuity intersectingthe tunnel face 1186.11 Displacements in height for point 1 for arrays 100, 200, 300, 400 1196.12 Displacements in height for point 6 for arrays 100, 200, 300, 400 1196.13 Surface displacement maps 1206.14 Residuals of total station data to regression6.15 Velocity of moving trolley estimated byline 123Kaiman filter 1266.16 Point cloud of test tunnel based on kinematic surveying (inside view) 1286.17 Point cloud of test tunnel based on kinematic surveying (outside view) 1286.18 Point cloud of test tunnel based on kinematic surveying (detailed view) 1297.1 Sensor Fusion: Laser scanner and total station 1327.2 SwissRanger2byCSEM 133A.l Imaging System of Imager5003 of Zoller+Frohlich 135C.l Microsoft Windows®application for adjustment of spheres 141D.l Circuit diagram of the developedelectronic circuit 143
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DISS. ETH NO. 17036Calibration of a
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ZusammenfassungSeit einigen Jahren
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ContentsAbstractiiiZusammenfassungv
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Contentsix6.1.3 Results Ill6.2 Stat
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1Introduction1.1 Terrestrial Laser
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1.2 Motivation 3Precision [m10~1 "1
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6 1. Introduction
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8 2. Components of Terrestrial Lase
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10 2. Components of Terrestrial Las
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24 3. Calibration of Terrestrial La
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'28 3. Calibration of Terrestrial L
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"[m] of system 90%) 3540 distance b
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!36 3. Calibration of Terrestrial L
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138 3. Calibration of Terrestrial L
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Inormal axis,intersectionpoint axis
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j/-*'.-,•66 3. Calibration of Ter
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74 4. Static Laser Scanning4.1.2 Mi
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76 4. Static Laser ScanningOptical
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78 4. Static Laser Scanningmaximum
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80 4. Static Laser Scanningand gene
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82 4. Static Laser Scanning• Ther
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84 4. Static Laser Scanning4.3.3 NU
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86 4. Static Laser Scanning
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88 5. Kinematic Laser Scanningmirro
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90 5. Kinematic Laser ScanningThe a
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92 5. Kinematic Laser Scanninghas a
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'94 5. Kinematic Laser Scanningbeam
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—96 5. Kinematic Laser ScanningTa
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''iI98 5. Kinematic Laser ScanningA
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40323 o.o; 50545 aT [jjs] 1.0().2 S
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102 5. Kinematic Laser Scanning5.3
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Page 122 and 123: 112 6. Applications of Terrestrial
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Page 142 and 143: 132 7. Summaryrange, achievable by
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Page 146 and 147: 136 A. Imaging System of Imager 500
Page 148 and 149: 138 B. Technical Data of Imager 500
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Page 152 and 153: 142 C. Adjustment of Sphere
Page 154 and 155: 144 D. Electronic Circuit for Deter
Page 156 and 157: aMulti-SensorPlatform,PhDGeodesy Sw
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Page 162 and 163: 152 BibliographyWunderlich, T. A. [
Page 166 and 167: 156 List of Figures
Page 168 and 169: 158 List of Tables
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