the past, present and future of mobile 3d laser … past, present and future of mobile 3d laser...

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The Past, Present and Future of Mobile 3D Laser Scanning

mailto:[email protected]


Sponsored by:

Sean Higgins Editor, SPAR Point Group Diversified Communications

Presenters:

Moderator:

Dr. Robert Radovanovic, P. Eng., A.L.S., C.L.S Chief Technical Officer SarPoint Engineering

Matthew Craig Business Dev. Manager LFM

www.lfm-software.com

The Past, Present and Future of Mobile 3D Laser Scanning December 2015

Using Mobile Laser Scan Data for Transportation and Infrastructure Surveying and Mapping – Sorting Apples and Oranges

Dr. Robert Radovanovic, P.Eng., A.L.S., C.L.S. Cell : 403-461-4056 Email : [email protected] SarPoint Engineering Ltd. Calgary, Alberta, Canada

SarPoint Mobile Laser Scanning – Apples and Oranges

Overview • Intro : Collecting Data via Mobile Laser

Scanning (MLS) – Collection Concepts – Typical Cloud Deliverables – Adjustment of Data / Georeferencing – Validation of Data / QA / QC – Variations in systems

• Actually Using Mobile Laser Scan Data (Or “Avoiding Point Cloud Overload Syndrome”) – Extraction of Features – Establishing Contractor Standards

• Sample Applications – Sign Asset Mapping – Rail Alignment Surveying

• Discussion


Mobile Laser Scanning Overview

Collect accurate 3-dimensional point cloud (LIDAR) from a moving vehicle, often with simultaneous georeferenced photography

Used to collect survey data much, much faster than possible conventionally


Principles of MLS Data Collection • Raw scan and position information

collected while vehicle is in motion – Vehicle motion is required to build scan

cloud, when vehicle is stopped, no data typically is collected!

• Photography often collected simultaneously with laser data – Cameras are calibrated to scan platform – Either high-accuracy planar cameras or

panoramic cameras employed

• Very large amount of data collected – Typ. 5 km project :

• Navigation Data : 1.6gb • Raw Laser Data : 2.4 gb (1 pt / 2 cm) • Camera Data : 39 gb (1 photo / 10 m) • Processed Files : 22 gb


Mobile Laser Scanning Overview

• Photography and 3D point cloud simultaneously collected, tied together and georeferenced to a mapping grid to survey accuracy

• Allows for unprecedented detail in creating as-built plans from the office


Typical MLS (Terrestrial LIDAR) Product

• “Google Street-View on Steroids” • Basic MLS product includes :

– 3D Georeferenced Point Cloud (LAS format) • Points may be colorized-by-imagery or colorized-

by-intensity – Georeferenced imagery (jpg w/ orientation and

position information for inclusion into CAD / GIS packages)

– Data may be cleaned of traffic or not

• Advantages over airborne LIDAR – Data density : point spacing of 1 pt / 2 cm possible – Data accuracy : 3D accuracy of 2 cm possible (to

hard targets!) – Ability to collect data on vertical faces – Collection not restricted by cloud cover

• Airborne LIDAR more useful than MLS for large areas / inaccessible areas


Typical MLS (Terrestrial LIDAR) Product

• Advantages over conventional survey data collection : – Speed of data acquisition – data is

collected while vehicle is in motion (up to highway speeds)

– Safety – survey personnel do not need to be in traffic, in the way of operations, or outside a vehicle

– Totality of data acquisition – scanner acquires and records all visible features regardless of particular mission

• SarPoint’s focus is on developing application solutions for clients where mobile scanning happens to be the best technological choice

– Typically augment MLS with terrestrial scanning, conventional surveying as needed


As-Built From Mobile Laser Data • Additional Advantages

• Ability to “Data Mine” after project for other features

– Power line crossing heights

– Facility setbacks

– Asset classes such as signs, light posts, etc.

• Allow team to review condition of roads / “virtual visit” to site

• Provides archival information if design validation / verification is required later


Principles of MLS Data Collection

• Post-processing typically includes addition of static base station GNSS data to correct raw (“single-point”) GPS data and to allow georeferencing to accepted control (i.e. ASCM, CACS, etc) – Some solutions allow for utilization of RTK corrections during data collections

for real-time QA/QC verification (i.e. data gaps, poor VDOP, etc).

Raw Laser Data

Platform Raw GPS/INS Data

Base Station GPS Data

Accepted Base Station Coordinates

Trajectory Processing

Platform Trajectory / Orientation

Scan Cloud Processing

X,Y,Z Point Cloud

Survey Control

Colourization Classification

Feature Extract


Adjustment of MLS Data

• Georeferencing of MLS data done via post-processing against GNSS base station with known coordinates – 3D Point Cloud is accurate to level of trajectory accuracy + laser ranging – Accuracy affected by PDOP / GPS outages / Multipath / etc. – Forward / Reverse Processing helps with some outages

Downtown Edmonton - Overhead Pedway causing loss of GNSS

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Validation of MLS Data • Validation of MLS data required to verify that

contractor-supplied data meets accuracy assessments – Amounts to “spot-checking” of data set by

surveying known targets conventionally within scan area and comparing resulting scan-cloud coordinates

– Typical targets : • Spheres, Boxes, Pyramids placed in scan

area • Chevrons painted on roadway (requires

calibrated photography) • Photo-identifiable points (i.e lane markings) • Orthogonal patches at interval

– Density / nature of validation data set must be established by client

– Validation may be done after or before scan completed depending on target types / logistics


Validation of MLS Data

• Accuracy to Hard Surface vs Vegetated Surface – Laser scanner may have ability to receive multiple returns per pulse – allows

for some measure of vegetation penetration – Typically, rely on density of data to “see” underlying vegetation – “shotgun

approach” – Validation must specify if accuracy is to hard surface (concrete, asphalt, bare

ground) or vegetated surface. If latter, specification must state to what degree surface is vegetated (i.e. crop type, vegetation height / density, etc.)


Actually Doing Stuff with MLS Data

• “Point Cloud Overload Syndrome” (PCOS) : Feeling of unease resulting from realizing the expensive laser scan you have just purchased may be only useful as a “cool visualization tool” (i.e you can zoom in and out)

• Scan cloud collection must serve a cost-effective purpose – Purpose of data collection and required end products will dictate nature of scan

data collection, hardware requirements, validation requirements, etc. – Not sufficient for contractor to expect to simply drop a colorized point cloud!

Digital Elevation Model

Curb and Gutter Linework

Lane Marking Linework

Location of Manholes / Catchbasins

Building Envelope Linework


Minimum Base Deliverables

• Georeferencing information : datum/geoid/projection – Meta-data is critical for later use of data

• QA/QC report : estimated accuracies, validation, report outlining collection procedure

• LAS File : preferably tiled to limit tile sizes to 1 gb – Colourisation optional – Traffic should be removed if LAS file used in-house or for visualization purposes – Classification into ground, high/med/low vegetation, as per ASPRS guidelines

(very time consuming)

• Georeferenced Photography – Photos to include orientation/position information in TerraPhoto / TopoDOT /

CSV standard formats – Calibration standards for imagery required (i.e. how tight to the cloud are the

photos?)


Minimum Extractable Products

• Bare Earth Digital Terrain Model – Allows creation of contours,

earthwork design etc. – Standard formats : GeoTiff, asc,

LandXML – Typical decimation to 30 x 30 cm – Requires separation of ground from

structures / guardrails / vehicles!

• Standard 3D Linework – Edge of Pavement – Curb and Gutter – Back Edge of Sidewalks – Lane Markings – Additional Grade Breaks – Vegetation Limits


Additional Extractable Products

• Asset Locations (Delivered as Blocks) – Manholes / Catchbasins – Signage (inc type, speed, etc) – Visible Utilities (or marked

underground utilities)

• Additional 3D Linework – Powerline catenaries – Pavement Joins – Building Envelopes – Barrier / Guard Rails – Bridge Approach Slabs / Features – Bridge Clearance – Tree trunks / Drip Lines

Using Mobile Laser Scan Data for Transportation and Infrastructure Surveying and Mapping – Sorting Apples and Oranges

Dr. Robert Radovanovic, P.Eng., A.L.S., C.L.S. Cell : 403-461-4056 Email : [email protected] SarPoint Engineering Ltd. Calgary, Alberta, Canada

Copyright © 2014 LFM Software Limited. All rights reserved.

The HyperBubble & the Trusted Living Pointcloud

The Trusted Living Pointcloud is LFMs vision for the future of laser scanning. It is an evolving source of value-rich information that allows consumers to track their physical asset with an accurate, as-is, digital representation. We see 6 principles that underpin the Trusted Living Pointcloud…

2015

#1 Scalable #2 Maintainable #3 Verifiable #4 Accessible #5 Visual #6 Intelligent 6 Principles


How LFM solves #1

InfiniteCore® Technology – manage multi-thousand scans projects with ease – Reliable and stable performance

Neutral Gateway – Import data independent from used sensor

• Terrestrial scans • Kinematic scans • Handheld scans • Airborne scans

Project hierarchy – Manage several scan jobs in one project

2015

No Limits to the size of a dataset – Why pay to capture then filter to handle ? – A true enterprise solution

• One copy – many disciplines

Any 3D capture device

6 Principles of TLP

Image Courtesy of Sarpoint Engineering

#1 Massive Datasets

Kinematic Scanning

6 Principles of TLP

10x faster #1 Massive Datasets

Image Courtesy of


How LFM solves #1

Multi sensor project – 4 vendors – 1 project

2015

#1 Scalable #2 Maintainable #3 Verifiable #4 Accessible #5 Visual #6 Intelligent 6 Principles

Copyright © 2014 LFM Software Limited. All rights reserved. 2015

BubbleView™

Everybody loves the BubbleView

#5 Visual


BubbleView™ - Key Features Advantages

– Simple to understand – Easy to use – No apparent gaps

Drawbacks

– It’s a Static View • Cannot look behind objects

– Limited sense of depth – Can give false confidence of coverage – Can only be generated from terrestrial scan systems

2015


How LFM solves #5

BubbleView™ CAD Fusion 3D Mark-up

2015


What do we need?

– We want same image clarity – Keep the simplicity – But be able to fly anywhere

In the future

– Handheld and Kinematic

BubbleView™ – Escaping it

2015

HyperBubbleTM

6 Principles of TLP #5 Visual

Points

HyperBubble™

BubbleView™


The HyperBubble™ is

A patented GPU based approach – Uses Hardware Tessellation

• DirectX11 or OpenGL 4.3 • Highly Threaded

– Uses cube mapped textures

The CPU used for texture load management – Using LFM Server core

2015


HyperBubble – Morphing from BubbleView

2015


HyperBubble™ – Core Features I

Solid look and feel – You really feel like you’ve been there

Game-like rendering speeds – but in the real world

High image clarity – Native definition available

Supports demolition – Rapid removal of unwanted regions

Scans can be added or removed – republish

2015


HyperBubble™ – Core Features II

Intuitive walk and look-round navigation. – Interaction with the environment

Active image management – Predictive loading for optimal quality

Parking at BubbleView – Drop back to native definition

Dynamic Overlay switching – Seamless switch between Colour, Monochrome

Back-face colouring and transparency – Know when you’re behind scanned objects.

2015


HyperBubble™ – Core Features III

Volume Clipping mode – Simple selection of area of interest

Mix-down with 3D models – Drop in CAD data

Works with all standard actions – Measurement – Mark-up

Access to the underlying points – Accurate measurement, trusted data

2015


LFM Server 4.4 – 3D Flight

Standard view control maintained ‘Steering Mode’ created to fly through the project

– HyperBubble™ – 3D point cloud

2015


HyperBubble™ View Control

Display closest static view by ‘Parking’

Toggle between colour and mono

2015


Demolition Visualise demolished data

– HyperBubble™ – Parked HyperBubble™ – BubbleView™

2015


Integration with Design

Models immersed in laser data – HyperBubble™ – Parked HyperBubble™ – BubbleView™

2015



Demolition & Model

2015



Annotate

2015

www.lfm-software.com

Thank you


Sponsored by:

Sean Higgins Editor, SPAR Point Group Diversified Communications [email protected]

Presenters:

Moderator:

Dr. Robert Radovanovic, P. Eng., A.L.S., C.L.S Chief Technical Officer SarPoint Engineering [email protected]

Matthew Craig Business Dev. Manager LFM [email protected]

the past, present and future of mobile 3d laser … past, present and future of mobile 3d laser...

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