Brown, L., Drew, O., Kramer, I., Maranzu, V. and Rouse, C.

Terrestrial Laser Scanning for 3D Building Modelling

Output & Validation

Data ProcessingRegistration

Noise removal

Data CollectionLeica C10

Site selection

3D MappingAvailable methods

TLS

The Proposed Work

Available Methods

• Increasing demand for 3D building models• Range of techniques available (Arayici, 2007; Mill et al., 2013):

• Traditional survey• Tape measure• Surveyor’s wheel• Electronic distance meter• Total station

• Close range photogrammetry

Terrestrial Laser Scanning

Definition:

“a ground-based, active imaging method that rapidly acquires accurate, dense 3D point clouds of object surfaces by laser range-finding” (Lichti, 2015)

Terrestrial Laser Scanning

Three types:

1. Triangulation-based

2. Pulse-based

3. Phase-based

• Over 1,000,000 pps• Max. range 80m• Comparable

accuracy

• 10,000-100,000 pps• Max. range 300m• 4-10mm accuracy

Terrestrial Laser Scanning

• Rapid acquisition

• Non-invasive

• Day or night operation

Source: rudi.net/files/paper/illustrations/composite.jpg

C10

Pulse-based

Green wavelength: 532nm

Point density: 50,000

Positional accuracy: 4mm

Range: 300m @ 90%

Source: http://hds.leica-geosystems.com

Data CollectionResolution: 2cm at 20m

Max distance: 4m

Time: 7 minutes per scan

Points collected: ~21 million

Field-of-View: 270° (vertical) 360°(horizontal)

ProcessingRegistrationDatabase

Processing in Cyclone 9.0

Raw Data

• Noise Removal• 3D Model

• Cloud-to-Cloud• Add Constraints

Constraints (Control points)

Scan 1 Scan 2

Registered Point-clouds

People

Objects

Shadow

Outside capture

Errors

Noise Removal

Registered Cleaned

3D Modelling

Output

Output

Object TLS (cm) Observed (cm) Error (cm)

Height

Poster frame 120.0 119.4 -0.6Wall A 273.0 274.7 1.7Double door 203.5 203.1 -0.4Step 16.5 16.6 0.1Wall B 279.0 278.3 -0.7

Width

Single door 83.5 83.4 -0.1Double door 161.5 160.6 -0.9Flower pot 39.5 38.4 -1.1Step 118.0 117.4 -0.6

Chair 43.5 42.5 -1.0

RMSE 1.0

Validation

Improved Data Collection• Full coverage

• Additional corridor • Additional stairs

• Three stations• Quicker• Less accurate • Difficult registration

• Leica P40 Scanner• Combination of phase-based and pulse-based• Spatial resolution: 1.2mm• 1,000,000 pps• Positional accuracy: 3mm

• Integrated approach• Multiple scans of varying resolutions• High-definition targets• Undertake in morning/at night• Additional software (SketchUp, AutoCAD)

Future Work

http://www.comptonmoving.com/http://hds.leica-geosystems.com/Bastonero et al., 2014http://www.coroflot.com/

Summary

References• Arayici, Y., 2007. An approach for real world data modelling with the 3D terrestrial laser scanner for built environment, Automation in

Construction, 16, 816-829.• Bastonero, P., et al., 2014. Fusion of 3D models derived from TLS and image-based techniques for CH enhanced documentation,

ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume 2, ISPRS Technical Commission V Symposium.

• El-Hakim et al., 1997. System for Indoor 3-D Mapping and Virtual Environments, SPIE, 3174, 21-35.• Feng, Q., 2012. Advantages By Phase-based 3D Laser Scanning Techniques to Underground Construction, International Society for

Rock Mechanics.• Lee, S.Y., et al., 2013. 3D Data Acquisition for Indoor Assets Using Terrestrial Laser Scanning, ISPRS Annals of the Photogrammetry,

Remote Sensing and Spatial Information Sciences, Volume 2, ISPRS 8th 3DGeoInfo Conference & WG II/2 Workshop, 27-29.• Lichti, D., 2015. Special Issue "Terrestrial Laser Scanning“, Remote Sensing.• MENSI, 2012. Technical specifications. Available from: http://mensi.free.fr/english/specsoi.htm• Mill, T., et al., 2013. Combined 3D building surveying techniques – terrestrial laser scanning (TLS) and total station surveying for BIM

data management purposes, Journal of Civil Engineering and Management, 19, 1, S23-S32. • Ordonez, C., et al., 2010. Measuring building facades with a low-cost closerange photogrammetry system, Automation in

Construction, 19, 6, 742749.• Williams, K.E., et al., 2012. Accuracy Assessment Of Geo-referencing Methodologies For Terrestrial Laser Scan Site Surveys, ASPRS

Annual Conference, Sacramento, California.