Development of a Portable Mobile Laser Scanning System with Special Focus on the System Calibration and Evaluation

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1 Development of a Portable Mobile Laser Scanning System with Special Focus on the System Calibration and Evaluation MCG 2016, Vichy, France, 5-6 th October Erik Heinz, Christian Eling, Markus Wieland, Lasse Klingbeil and Heiner Kuhlmann University of Bonn, Germany

2 Motivation Growing importance of spatial 3D data mapping, documentation, visualization, planning, inspection, [1] [2] [3] Mobile laser scanning, but limitations in terms of weight, size, costs, access, safety, [4] [5] [6] Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 2

3 Motivation Development of portable systems improved mobility and flexibility in challenging situations: soft ground, narrow passages, access limitations, security aspects [10] [11] [12] [13/14] Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 3

4 Motivation Development of portable systems improved mobility and flexibility in challenging situations: soft ground, narrow passages, access limitations, security aspects [7] [8] [9] Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 4

5 Portable system Portable laser scanning system (IGG Bonn) direct georeferencing unit (GPS, IMU, magnetometer) and 2D laser scanner (Hokuyo UTM-30LX-EW) weight < 1.5 kg (w/o frame & batteries) and size < 1 m Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 5

6 Direct georeferencing unit Position and attitude of the mobile platform small, lightweight (240 g, w/o antennas & batteries), real-time pose estimation with σ Pos < 5 cm, σ Att < and 100 Hz RTK-GPS (L1+L2) GPS compass (L1) GPS/IMU integration Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 6

7 2D laser scanner Mapping of the environment Hokuyo UTM-30LX-EW (TOF principle) maximum (guaranteed) range 30 m FOV 270 with resolution of D points, intensities, multi-echo scanning rate 40 Hz weight: 210 g (w/o cable) small, low-cost (~ 5,000 $) accuracy mm to cm Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 7

8 System architecture Fusion of the sensors time synchronization with trigger pulses (PPS + SCS) system calibration, i.e. lever arms and boresight angles between direct georeferencing unit and 2D laser scanner Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 8

9 System architecture Fusion of the sensors time synchronization with trigger pulses (PPS + SCS) system calibration, i.e. lever arms and boresight angles between direct georeferencing unit and 2D laser scanner? Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 9

10 System calibration Problem formulation 6 DOF transformation 3 lever arms Δx, Δy, Δz 3 boresight angles α, β, γ transformation (position and orientation) between direct georeferencing unit and 2D laser scanner is unknown Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 10

11 Calibration approach System calibration calibration field with differently oriented reference planes (georeferencing by TLS and ground control points) static scanning of the planes with the mobile system from different stations Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 11

12 System calibration Calibration approach scan points of the mobile system must satisfy the plane equations planes are defined by the 3D TLS points adjustment of g 1 and g 2 in a total least squares approach estimation of the six calibration parameters with covariances (variance component estimation) Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 12

13 System calibration Calibration results Parameter accuracies about 4 mm and 0.1 Parameter correlations smaller than 15 % Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 13

14 Simulations Analysis/optimization of the calibration network configuration in the calibration field is crucial for the quality of the results quality criteria accuracy and correlation of the parameters reliability, i.e partial redundancies of the observations sensitivity of the planes towards the parameters efficiency, i.e. minimal number of planes and scans Implementation of a simulation environment! Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 14

15 Simulations Exemplary simulation results two calibration fields: 7 reference planes, 4 stations of a MSS with [σ xyz, σ ϕθψ, σ d, σ a ] = [0.01 m, 0.05, m, 0.02 ] P 1 P2 P6 P 7 MSS 1,2,3,4 Field 1 P 3,4,5 Parameter Accuracy Δx m Δy m Δz m α β γ Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 15

16 Simulations Exemplary simulation results two calibration fields: 7 reference planes, 4 stations of a MSS with [σ xyz, σ ϕθψ, σ d, σ a ] = [0.01 m, 0.05, m, 0.02 ] P 1 P2 P6 P 7 MSS 1,2,3,4 Field 2 P 3,4,5 Parameter Accuracy Δx m Δy m Δz m α β γ Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 16

17 Simulations Partial redundancies of the observations Refinement of the network configuration improves the quality of the calibration results weakly controlled pitch angles θ of the mobile platform affect the boresight angle α negatively! Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 17

18 System evaluation Precision of the system cloud-to-mesh differences δ between two kinematic scans good repeatability: no systematic deviations, cm-precision Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 18

19 System evaluation Accuracy of the system cloud-to-mesh differences δ: kinematic scan TLS scans systematic deviations (due to GPS), cm to dm accuracy Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 19

20 System evaluation Accuracy of the system cloud-to-mesh differences δ: kinematic scan TLS scans systematic deviations (due to GPS), cm to dm accuracy Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 20

21 System evaluation [15] Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 21

22 Conclusion and outlook Portable laser scanning system with cm to dm accuracy small and lightweight improved mobility and flexibility System calibration with plane-based approach accuracy of the parameters about mm and decidegree simulations to analyze and optimize the calibration Future work refinement of the calibration based on simulations integration of intrinsic calibration parameters test field for mobile laser scanning systems for calibration and evaluation purposes Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 22

23 Thank you for your attention Questions or comments? M.Sc. Erik Heinz Institute of Geodesy and Geoinformation University of Bonn, Germany Tel.: / e.heinz@igg.uni-bonn.de Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 23

24 List of figures [1] (20/07/2016). [2] (20/07/2016) [3] (20/07/2016) [4] (20/07/2016) [5] (20/07/2016) [6] (20/07/2016) [7] Kukko, A., Kaartinen, H., Hyyppä, J., Chen, Y., Mobile Laser Scanning: Usability and Peformance. Sensors 12, [8] (20/07/2016) [9] (20/07/2016) [10] (20/07/2016) [11] (20/07/2016) [12] %20Schloss%20und%20Botanische%20Gaerten/index.html#Studierende_41_LR.jpg (20/07/2016) [13] (20/07/2016) [14] (20/07/2016) [15] /02_LR.jpg (21/07/2016). Erik Heinz Machine Control and Guidance 2016, Vichy, France Page 24

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