3D SCANNER: is any device that

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1 DEFINITIONS 3D SCANNER: is any device that - collects 3D coordinates of a given region of an object surface - automatically and in a systematic pattern - at a high rate - achieving the results (i.e. 3D coordinates) in (near) real time. There is no generally accepted definition concerning instruments which are considered to be 3D scanners. Some classification will be proposed. info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 1

2 DEFINITIONS 3D scanner basic output: range map, point cloud, point model, scans,... (a lot of points, with known 3D coordinates in the same reference system) In addition to the 3D coordinates the scanner may or may not deliver reflectivity values (or RGB values) 3D SCANNING SYSTEMS 2

3 3D SCANNING VS TOPOGRAPHY Pros&Cons Topographic surveys + High accuracy + Homogeneous overall accuracy + Sound scientific indicators for quality assurance of the final product + Good for plans and cross sections +/- Mainly good only for objects of low complexity, otherwise not cost/time effective - Requires more time for field work - Point-wise mapping, no texture mapping Laser Scanning + Good for complex continuous surfaces + Good for surface analysis and visualization - Edges cannot be extracted - Line drawings cannot be derived - Huge amount of data to handle info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 3

4 CLASSIFICATION Stationary/Mobile Terrestrial laser scanners (TLS) Aerial laser scanners Principles of operation Range scanners Triangulation scanners Range measurement principles Time-of-flight Phase shift 3D SCANNING SYSTEMS 4

5 LASER AEREI GEOMATICS FOR CONSERVATION & COMMUNICATION OF CULTURAL HERITAGE LABORATORY AIRBORN SYSTEMS 3D SCANNING SYSTEMS 5

6 DSM & DTM DSM DTM 3D SCANNING SYSTEMS 6

7 TERRESTRIAL SYSTEMS Ground Based Laser Scanner: As a Total Station, they measure distances corresponding to a predefined angular step info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 7

8 LIDAR AND TLS DATA INTEGRATION scanning georeferencing aligned data 3D object aerial lidar TLS GPS + IMU data GPS/TS data 3D point model D. Visintini, B. Fico, F. Crosilla, F. Guerra 3D virtual model of the Gorizia downtown (Italy) by matching aerial and terrestrial surveying techniques info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 8

9 TRIANGULATION SCANNERS Triangulation scanner It measures angles corrisponding to a fixed base Projector + one camera: - At one and of the base there is a transmitting device, sending a laser beam at a defined, incrementally changed angle (thanks to a rotating mirror) - At the other end of the base there is a camera which detects the laser spot (or line) on the object. 3D coordinates can be derived from the resulting triangle The accuracy of the distance between instrument and object decreases with the square of this distance. info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 9

10 TRIANGULATION SCANNERS scanner a triangolazione - base di lunghezza fissa misurano angoli corrispondenti ad una distanza predefinita (base) Projector + two cameras: - Two digital cameras are fixed at the ends of a fixed base - A projector send a laser beam, or strep, or pattern (moving independently from the cameras) 3D coordinates are computed on the same base of the previous system. Same observation about accuracy. info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 10

11 TRIANGULATION SCANNERS Object Video In PC (control unit) RS info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 11

12 TRIANGULATION SCANNERS Lab 3D SCANNING SYSTEMS 12

13 TRIANGULATION SCANNERS 3D SCANNING SYSTEMS 13

14 PRINCIPI di FUNZIONAMENTO GEOMATICS FOR CONSERVATION & COMMUNICATION OF CULTURAL HERITAGE LABORATORY RANGE MEASUREMENT PRINCIPLES range scanners they measure distances corresponding to predefined angular steps - Time of flight A laser pulse is sent to the object and the distance between transmitter and reflecting surface is computed from the travel time between signal transmission and reception The accuracy can be assumed as independent from the distance - Phase shift Better accuracy, but it requires higher energy for the coming back signal, lowering the range info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 14

15 PRECISIONI e PORTATE GEOMATICS FOR CONSERVATION & COMMUNICATION OF CULTURAL HERITAGE LABORATORY info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 15

16 TECHNICAL SPECIFICATIONS Scanning rate - 100pts/s to pts/s, depending on principle of operation - set up and moving time needs to be considered Field of view - one axe or two axes rotation scanner - the acquired window/panorama can be expressed by an orizontal and a vertical angle - it is necessary to balance quality (pseudo-orthogonality scan positions) and cost (less scans) info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 16

17 TECHNICAL SPECIFICATIONS Angolar accuracy - It is related to constructive techniques (i.e. mechanical devices devoted to deflect the spot) - The measured point is moved orthogonally to the range direction Angular accuracy: ±125µrad (v. Leica HDS6000/7000) -> The corresponding error at a distance of 50 m is: x 50 ~ 0.006m info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 17

18 TECHNICAL SPECIFICATIONS Distance accuracy - The measured point is moved along the range direction info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 18

19 Nowaday the 3D accuracy (both the effects of angualar and distance accuracy) for phase shift and time of flight laser scanners can be almost the same. Others specifications can change significantly: PS reach (in general) an higher scan rate than the TOF. 3D SCANNING SYSTEMS 19

20 TECHNICAL SPECIFICATIONS Scan resolution - Points recorder by the same scan position are equally spaced considering a sspherical surface centered on the scanner - scan resolution means the space between two adjacent points, but also the quality of a set of data, i.e. the capability to describe small details on the surface - it states the density of points data info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 20

21 TECHNICAL SPECIFICATIONS With the same resolution setting, the measured points will be dense or sparse depending on the distance and position of the object. 3D SCANNING SYSTEMS 21

22 TECHNICAL SPECIFICATIONS Spot size - the measuring beam is normally focused at a predefined distance -> it impacts on the object surface with a reflective area or spot size - it is related to the capability to describe small details on the surface - a scan resolution lower than the spot size involves an over-sampling HDS6000 data info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 22

23 TECHNICAL SPECIFICATIONS Mixed pixels - when the reflective area is ditributed on different surfaces, the measured point does not belong to any of them The same detail scanned by instruments with different spot size: when the spot hits on a breakline a mixed pixel is recorded info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 23

24 TECHNICAL SPECIFICATIONS Real ranges - depends on material, roughness, colors, wetness, angle of incidence Reflectivity value - Useful to better understanding the point model - Allow to automatically recognize specific targets Some biases have been observed, due to material and chromatic characteristics of the surface: unfavorable conditions are scan positions almost orthogonal to highly reflective surfaces, and scans facing the sun (a digital camera can be combined to the scan head) info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 24

25 TECHNICAL SPECIFICATIONS 3D SCANNING SYSTEMS 25

26 TECHNICAL SPECIFICATIONS 3D SCANNING SYSTEMS 26

27 TECHNICAL SPECIFICATIONS Automatic target recognition (software) -Useful for data alignement - 3D or plane target info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 27

28 HOW MANY POINTS ARE THERE IN A SCAN? Resolution: 360 /5000= pt/ 5000 x 2150 > 10 million pts info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 28

29 MODELLO DI PUNTI Un modello è un referente significativo dell oggetto (sostituto della realtà semplificato/sintetico): per descriverlo elimina gli elementi ridondanti e enfatizza quelli ritenuti più importanti Un modello di punti è proprio l opposto, essendo costituito da elementi ridondanti ed indifferenziati. Gli elaborati che derivano dalle operazioni di misura : non ricreano l oggetto nella sua integrità ma ne danno una caricatura maligna [M. Cunietti] info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 29

30 Photogrammetry and topography: breaklines representation 3D scanning systems: high resolution surface sampling 3D MODELS 3D SCANNING SYSTEMS 30

31 3D MODELS 3D SCANNING SYSTEMS 31

32 DATA ACQUISITION Planning the survey The scans positions depend on the shape and size of the object 3D SCANNING SYSTEMS 32

33 DATA ACQUISITION For a closed room in some cases one scan is enough; more often, in order to completly scan all the surfaces, more scans are nedeed. info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 33

34 DATA ACQUISITION 3D SCANNING SYSTEMS 34

35 DATA ACQUISITION Sketches -Outline of the area, rooms sketches,... - Scanner positions, target positions, model and name info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 35

36 DATA ACQUISITION 3D SCANNING SYSTEMS 36

37 DATA ACQUISITION 3D SCANNING SYSTEMS 37

38 DATA ACQUISITION 3D SCANNING SYSTEMS 38

39 DATA ALIGNMENT Data acquired by different scans need to be aligned in the same reference system In architectural or landscape application it is useful to geo-reference data Data can be aligned through homologous points or overlapped areas 3D SCANNING SYSTEMS 39

40 DATA ALIGNMENT 3D SCANNING SYSTEMS 40

41 DATA CLEANING Partially automatic process with filters based on range, manually (and time consuming) otherwise (scaffolding, vegetation, people, cars,...) 3D SCANNING SYSTEMS 41

42 3D MODEL ELABORATION Model partitioning (for very big size projects): Outliers filtering Noise reduction: improves data quality by removing speckle effect Sampling data (random, grid, curvature sampling) 3D SCANNING SYSTEMS 42

43 SURFACE MODELS Triangulation is the process to build a triangular mesh starting from points A mesh is a collection of vertices, edges and triangular faces that defines the shape of an object. Triangular faces must be continuos, not overlapped, sharing the adjacent edge. info@geomaticaeconservazione.it 3D SCANNING SYSTEMS 43

44 SURFACE MODELS Normal correction Holes filling Mesh reduction (Smoothing) 3D SCANNING SYSTEMS 44