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Terrestrial Laser Scanning Overview

This document provides an introduction to terrestrial laser scanning. It discusses how laser scanners work using light amplification to measure distance. While the laser beams must be handled safely, terrestrial scanners are considered low risk. Different types of scanners are shown and explained, including long range pulsed time-of-flight scanners and shorter range phase-shift based scanners. Laser scanners produce dense point clouds of x,y,z coordinates and intensities that accurately model surfaces. They generate large datasets that must be properly managed.

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Raaj Ramsankaran
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343 views21 pages

Terrestrial Laser Scanning Overview

This document provides an introduction to terrestrial laser scanning. It discusses how laser scanners work using light amplification to measure distance. While the laser beams must be handled safely, terrestrial scanners are considered low risk. Different types of scanners are shown and explained, including long range pulsed time-of-flight scanners and shorter range phase-shift based scanners. Laser scanners produce dense point clouds of x,y,z coordinates and intensities that accurately model surfaces. They generate large datasets that must be properly managed.

Uploaded by

Raaj Ramsankaran
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Introductionto Introduction to terrestriallaserscanning g

AfricanCulturalHeritageandLandscapesProject RoshanBhurthaandChristophHeld rbhurtha@[Link],[Link]@[Link] @g , @

Roshan Bhurtha - UCT

Introduction

LASER isanacronymforLight S s a ac o y o g t AmplificationbytheStimulated EmissionofRadiation. Emission of Radiation

Roshan Bhurtha - UCT

Safetyoflaserbeams Safety of laser beams

Arelaserscannersdangerous? e ase sca e s da ge ous Laserdevicesclassifiedaccording totheirpoweroutput. t th i t t Terrestriallaserscannersare consideredlowrisk,but precautionsmuststillbetaken. precautions must still be taken

Roshan Bhurtha - UCT

Picturesoflaserscanners Pictures of laser scanners


Picturesoflaser scanners Terrestriallaserscanning Whatdowegetoutof thelaserscanner? Exampleofpointscloud f Typesof3Dterrestrial laserscanning technology Pulsedtimeofflight Phaseshiftbased scanner Datasetmanagement Data set management

LeicaHDS3000 e ca S 3000 Mediumrange

Roshan Bhurtha - UCT

Picturesoflaserscanners Pictures of laser scanners

LeicaHDS4500 e ca S 500 Shortrange

Roshan Bhurtha - UCT

Roshan Bhurtha - UCT

Terrestriallaserscanning Terrestrial laser scanning

xi,yi,zi & intensity

Point cloud o c oud


130 000 scan points at a 10 mm scan interval.

Roshan Bhurtha - UCT

Terrestriallaserscanning Terrestrial laser scanning1

1 Diagram taken from: Terrestrial Laser Scanning. R Staiger.

Whatdowegetoutofthelaserscanner? What do we get out of the laser scanner?


ScannersfocuslaserbeamalongtheXandYaxis Scannerrecordsrange,intensityandscanangleofeach Scanner records range intensity and scan angle of each measurement Locationofeachmeasurementcalculatedveryaccurately(in localreferenceframe) local reference frame) Createsanextremelydense,accuratemodelofthescanned surface EachpointinthecloudhasX,Y,ZandI(intensity) Alowpowerlaserbeamisusedtomeasurethepositionof [Link], severalreadingsaretakenanda3Dmapofthesurfaceis created. Thescannerismanuallymovedaroundtheobjecttomeasure pointsfrommanydifferentangles,sothatwegetafull coverageoftheobject.

Roshan Bhurtha - UCT

Exampleofpointscloud Example of points cloud

TheSummerHouse e Su e ouse

Roshan Bhurtha - UCT

Roshan Bhurtha - UCT

Roshan Bhurtha - UCT

Roshan Bhurtha - UCT

Typesof3 Dterrestriallaserscanningtechnology Types of 3D terrestrial laser scanning technology

Pulsedtimeofflight(MediumLongrange)) u sed t e o g t( g g Phaseshiftbased (Shortrange)

Roshan Bhurtha - UCT

Pulsedtimeofflight

Roshan Bhurtha - UCT

Pulsedtimeofflight2

Distance=speed*time sta ce speed t e 2*R=c*t R=(c*t)/2 R Range R =Range c=speedoflight(3x10e8m/s) t=roundtriptimeforlightpulse

Roshan Bhurtha - UCT

Phaseshiftbasedscanner

TimeofflighttL ismeasuredbythe e o g t t s easu ed by t e phasedifferencebetweenthe transmittedsignalandreceived transmitted signal and received signal.

Roshan Bhurtha - UCT

Phaseshiftbased Phase shift based 2

Roshan Bhurtha - UCT

Phase shiftbasedscanner Phaseshift based scanner2

Basedonphasecomparisonmethod EDMtransmitsacoaxialintensity modulatedopticalmeasuringbeamthat isreflectedoffatarget is reflected off a target Thephasedifferencebetweenthe transmittedlightandthereflectedlight g g representsadistance Onlythephaseoffsetisobtainedfrom thephasecomparison th h i Cycleambiguityisresolvedusingmultiple measurementmodulationwavelengths measurement modulation wavelengths Providesauniqueintegernumber distancetotargetcalculated g
2 Laser Scanning: TECHNOLOGY, APPLICATIONS and BENEFITS. Mark Smith.

Datasetmanagement Data set management

Scannergenerateslargeamounts Sca e ge e ates a ge a ou ts ofdata 60 MB f d t f S 60MBofdataforSummerHouse H Otherscangenerateasmuchas10 g GB!

Roshan Bhurtha - UCT

ThankYou Thank You

Roshan Bhurtha - UCT

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