Terrasolid European Training Event

Transcription

1 Terrasolid European Training Event February 13 th 18 th, Levi / Finland Nikolaus STUDNICKA Business Development Manager RIEGL Laser Measurement Systems GmbH

2 Content Mobile Laser Scanning System VMX-250/450 Bathymetric Airborne Laser Scanner VQ-820-G Multiple-Time-Around Processing Airborne LiDAR and Image Data in RiPROCESS RIEGL Laser Measurement Systems

3 RIEGL Laser Measurement Systems

4 V-Line of 2D- and 3D laser scanners RIEGL VQ-480 RIEGL VQ-250/450 RIEGL VZ-400 Scan Range: Laser Clock: 60 deg 200 khz 360 deg 300/550 khz 100 x 360 deg 300 khz Max. Range: 600 m (60%) 500/800 m (80%) 500 m (80%) V-Line of 2D- and 3D Laser Scanners

5 Mobile Laser Scanning System VMX-250/450

6 Railway Scanning March, 2011 Sopron / Hungary RIEGL VMX-250: 2 scanners: RIEGL VQ cameras: 5 megapixel resolution speed: 60 km/h two passes in opposite directions 30 ground control points Railway Project: Hungary

7 Railway Scanning Sept, 2011 Frankfurt / Germany compact design -> easy transport and set up -> installation on standard duty trailers RIEGL Movies on Youtube

8 RIEGL VMX-250 Mobile Laser Scanning System

9 2011, Intergeo: VMX-250 New Design and VMX-450 mounting platform laser scanner IMU GNSS receiver fully-calibrated Measuring Head DMI RIEGL VMX-250/450 Mobile Laser Scanning System

10 operator s workstation compact and transportable: Control Unit quick setup: Measuring Head RIEGL software incl. 3 rd party SW f. trajectory proc. RIEGL VMX-250/450 Mobile Laser Scanning System

11 Data acquisition with RiACQUIRE and touchscreen operation RIEGL VMX-250/450 Mobile Laser Scanning System

12 VMX-250 VMX-450 Scanners 2 x RIEGL VQ x RIEGL VQ-450 Effective Meas. Rate 600 khz (2 x 300 khz) 1.1 MHz (2 x 550 khz) Scanrate 200 Hz (2 x 100 Lines / sec) 400 Hz (2 x 200 Lines / sec) Max. Range 500 r 80% & 100 khz 75 r 10% & 300 khz Accuracy 10 mm 8 mm Precision Position (absolute) Position (relative) 5 mm typ mm typ. 10 mm Roll & Pitch Heading Laser Class Camera System (optional) 1 (eye safe) 800 r 80% & 300 khz 140 r 10% & 300 khz Up to 6 cameras with 5 megapixels INS/GNSS performance Product Specification

13 pulsed time-of-flight range measurements rotating mirror emitted pulse echo return scanner instrument LASER photo detector analog to digital conversion SIGNAL PROCESSING target object echo digitization R = v g ttof 2 online waveform processing multi target capability calibrated amplitude and reflectance reading pulse shape deviation RIEGL V-Line Technology

14 point cloud encoded by reflectance: values > 0 db in red Calibrated Amplitude and Reflectance

15 RIEGL Movies on Youtube Querfeld

16 RIEGL Movies on Youtube

17 RIEGL Movies on Youtube

18 point filter based on deviation values BEFORE deviation filter AFTER deviation filter Pulse Shape Deviation

19 RIEGL Movies on Youtube

20 You can find our application movies at: RIEGL Movies on Youtube

21 RIEGL Mobile Laser Scanning System VMX-450

22 Bathymetric Airborne Laser Scanner VQ-820-G

23 Airborne Laser Scanning

24 Bathymetric Airborne Laser Scanner RIEGL VQ-820-G

25 Complete Platform RIEGL CP-820-G

26 Complete Platform RIEGL CP-820-G

27 Bathymetric Airborne Laser Scanner RIEGL VQ-820-G

28 Bathymetric Airborne Laser Scanner RIEGL VQ-820-G

29 Multiple-Time-Around processing

30 from the IEEE Standard Radar Definitions, IEEE Std (1998) :

31 Multiple Time Around - MTA Zone 2

32 MTA zone 1 MTA zone 2 MTA zone 3 Avoiding range ambiguities in flight planning

33 Amplitude S m S m+1 S m+2 S m+3 E n E n+1 E n+2 E n+3 S m+4 T m T n T m+1 T n+1 T m+2 T n+2 T m+3 T n+3 T m+4 Time Δt m+1 Δt m+2 Δt m+3 Δt m+4 τ = PRR -1 τ τ τ r m,mta1 r m+1,mta1 r m+2,mta1 r m+3,mta1 r m,mta2 = r true r m+1,mta2 = r true r m+2,mta2 =r true New approach, Step 1: Variation of pulse repetition intervals

34 target range [m] E X MTA1 = 1847m MTA-zone 1 target range [m] MTA-zone 2 E X MTA = m 2 target range [m] i E X MTAj 925 MTA-zone = N -1 i= 1 target range [m] ~ X MTAj i i 1305 MTA-zone E X MTA 3 = m E X MTA 4 = m i i Minimum noise signal energy New approach, Step 2: Analysis of the influence of PRI jitter

35 RIEGL LMS-Q680i full waveform airborne laser scanner RIEGL VQ-580 online waveform processing airborne laser scanner RiMTA automated range ambiguity resolution RiMTA

36 Avoiding range ambiguities in flight planning

37 RIEGL LMS-Q680i PRR = 400kHz R u = 375m One scan stripe transits 3 MTA Zones

38 RIEGL LMS-Q680i PRR = 400kHz R u = 375m One scan stripe transits 3 MTA Zones

39 RIEGL LMS-Q680i PRR = 400kHz R u = 375m One scan stripe transits 3 MTA Zones

40 RIEGL LMS-Q680i PRR = 400kHz R u = 375m One scan stripe transits 3 MTA Zones

41 RIEGL LMS-Q680i PRR = 400kHz R u = 375m One scan stripe transits 3 MTA Zones

42 Airborne LiDAR and Image Data in RiPROCESS

43 ALS camera RIEGL BP680 DA42MPP

44 ALS camera RIEGL CP680 Mil Mi-8

45 ALS camera RIEGL CP680 Vulcan Air P68

46 ALS camera RIEGL CP580 AutoGyro Callidus

47 ALS camera Custom Integration RIEGL Q560 Bell Jet Ranger

48 Highly compact, flexible and efficient turnkey ALS solution, fully EASA certified, comprising LMS-Q680i, DR560-RD, ALS software, INS/GNSS unit, and FMS, smoothly integrated into the "Universal Nose" of the Diamond twin-engine plane DA42 MPP. ALS camera Diamond twin-engine plane DA42 MPP with nose pod NP680i RIEGL NP680i

49 Lidar Photograph: + higher resolution + clear edges, lines, points - sun light is necessary - sunshine - no penetration of vegetation Lidar airborne image

50 Lidar: + penetration of vegetation + no sunlight is necessary (active) - lower resolution ALS - TLS Lidar airborne Image

51 3D city model of Nagoya city made from LMS-Q680i data (image courtesy of Nakanihon, Japan)

52 Trajectory Data logger Flight Guidance GPS Receiver RiACQUIRE Pilot Display Operator workstation Camera Data Storage IMU Synchronization Monitoring & Ctrl CAM RIEGL Q680i RIEGL DR680 Data stream Block diagram ALS System

53 The camera model used is based on a Cartesian coordinate system (CaMera Coordinate System, CMCS). The origin is coincident with that of an equivalent pinhole camera. The x-axis of the right-handed coordinate system is aligned from left to right in the images, whereas the y-axis is aligned from top to bottom. Thus, the z-axis corresponds to the direction of camera s view. Camera model

54 SOCS Scanners Own Coordinate System scanner Mounting matrix trajectory GNSS receiver 3rd party software IMU Source Coordinate System GeoSysManager coordinate systems projection geoid SOCS BODY BODY Source point cloud data export e.g. LAS camera Mounting matrix Y X Z BODY coordinate system CMCS CMCS BODY CaMera Coordinate System Navigation Reference frame image data export e.g. image lists camera calibrations etc Coordinate transformation

55 The internal camera calibration describes the ideal pinhole camera represented by the focal length and the equivalent center of the pinhole projected orthogonally onto the chip surface (= principle point). The x and y axes use separate focal lengths fx and fy which are normalized by the respective pixel width dx and dy, so that, for example, fx [pixel] = fx [m] /dx [m]. The center of the image in relation to the CMCS is defined by the parameters Cx and Cy, given in pixel units. For lenses with negligible distortion, usually Cx ~ Nx/2 and Cy ~ Ny/2, whereas Nx and Ny are the number of pixel horizontal and vertical direction. Internal camera calibration

56 Internal camera calibration

57 The lens distortion is modeled by at least two radial and two tangential coefficients: k1, k2, k3, k4 and p1, p2 respectively. In case the radial coefficients of higher order equal 0, the camera model is identical to the one described in OpenCV ( Internal camera calibration

58 Camera properties Image Data Camera properties in RiProcess

59 camera CMCS BODY CMCS amera Coordinate System Mounting matrix Y X Z BODY coordinate system translation External camera calibration

60 Calculate camera mounting

61 camera CMCS BODY CMCS CaMera Coordinate System Mounting matrix Y X Z BODY coordinate system rotation External camera calibration

62 Coordinate systems transformation

63 Image list export

64 Image list and camera calibration export

65 Example Horn - 12 th January 2012 LMS-Q680i Laser pulse repetition rate 400 khz Speed of airplane 110 knots (200 km/h) Altitude above ground level 1650 feet (550m) Resolution on ground -> approx. 9 points per m 2 Number of images 216 Number of flight lines 9 Operation time 27 minutes Flight planning

66 Flight planning

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70 20 pts/m 2 10 pts/m 2 0 pts/m 2 Point density

71 Horn - 12 th January 2012, 11:30

72 Horn - 12 th January 2012, 11:30

73 Horn - 12 th January 2012, 11:30

74 1.8m / 25 pixel = 7cm per pixel Horn - 12 th January 2012, 11:30

75 Airborne Laser Scanning

76 Thank you for your attention!