Terrestrial Laser Scanning Principles: Chris Crosby, UNAVCO

Terrestrial
Laser Scanning Principles
Chris Crosby, UNAVCO
w/ slides from D. Phillips,UNAVCO

& J. Oldow, UTD
TLS Instrument and Survey Parameters
•  Spot size (range, divergence)

•  Spot spacing (range, angular resolution)
•  Spot density (range, angle, number of setups)
•  Angle of incidence (spot shape, intensity, range)
•  Edge effects
•  First return, last return, “other”
•  Shadows
•  Scan object characteristics (albedo, color, texture)
•  Field of View
•  Points Per Second
Beam Divergence

Df = (Divergence * d) + Di
Beam Divergence

Angular Step

Spacing = d(m)*TAN(step)
Angular Step
•  Riegl VZ400 Maximum measurement range as function of target material

overhang
Scan Posi?ons

Choose scan posi?ons to minimize occluded (shadowed or hidden) geometries.
Shot Spacing / Sample Density

•  Shot spacing varies as a func?on of range to target.
•  Choose angular scan resolu?on to op?mize sample density.

TARGET BASED WORKFLOW
Standard tie point workflow (e.g., Riegl RiScan Pro)

–  Use at least 5 reference targets to register scan positions (the more the
better).
–  Same targets must be common between scan positions.
–  The more targets common to all scan positions, the better
In the field
–  Determine scan locations, target locations and GPS locations.
–  Set up targets and GPS.
–  Scan position 1
•  360-deg “panorama” scan + Image acquisition if desired.
•  Target fine scan.
•  Area of interest scan + Image acquisition if desired.
–  Scan positions 2 +
•  Same as above but then find corresponding points and co-register scan
positions.
Moab, Utah survey site

Mul%ple survey posi%ons
Moab Utah
Survey Tie Points

Remember…
•  Resolution vs. Areal Coverage...only so much time available! Let the

science be your guide.
•  In general, a greater number of short range setups is preferable to a
few number of long range setups. This may be limited by access
constraints.
•  Scan from “strong” angles, minimize LiDAR “shadows”.
•  Longer range shots = larger spot size, less angular resolution, less
intense return.
•  Scan with a spot spacing at least 1/10 the wavelength you want to
characterize.
•  Atmospheric affects
– Rain, fog, wet surfaces are major problems.
– Don’t shoot into the sun.
– Don’t let machine overheat.
•  Treat the equipment gently...it’s finely calibrated and EXPENSIVE!
•  The data are only as good as your setup!!!
TLS Data
Data volume can be a problem:
•  Technology outpaces most software for data

processing & management.
•  Just because you can, doesn’t mean you should
•  Science application should define data

collection.
TLS Workflow Overview
TLS Data
Point Cloud

•  3D “point cloud” of discrete loca?ons derived from range and

orienta?on of scanner for each laser pulse.
•  XYZ posi?on in cartesian coordinates plus associated point

aQributes: intensity, RGB, etc.
•  3D point clouds are the basis for subsequent analysis and

used to create CAD or GIS models
•  UNAVCO standard deliverable = merged, aligned,

georeferenced point cloud in ASCII or LAS format.

TLS Data
Intensity Range
Height True Color

TLS Coordinate Systems
A note on coordinate systems:
•  Three types of coordinate systems used in TLS:

–  Scanner coordinates (Riegl = “SCS”)
–  Project coordinates (“PRCS”)
–  Global Coordinates (GLCS)
•  Remember the scanner thinks only in angles and distances
•  Initially, all scans are independent w/ measurements relative to

position of the scanner.
•  Tie points link scans together = project coordinates (PRCS)
•  Independent GPS information allows georeferencing of data

(GLCS)
Georeferencing TLS
TLS data often delivered in Earth Centered, Earth Fixed coordinates.

–  Origin = center of mass of the Earth.
–  Three right-handed orthogonal axis X, Y, Z. Units = meters.
–  The Z axis coincides with the Earth’s rotation axis.
–  The (X,Y) plane coincides with the equatorial plane.
–  The (X,Z) plane contains the Earth’s rotation axis and the prime
meridian.
•  Preferred by geodesy community
•  Not GIS friendly! Requires

transforma?ons into 2D cartesian
(e.g., UTM).
•  Applica?on of data maQers
•  Beware ver?cal datums…

TLS Processing Workflow – Overview
Field data Merged,

collec%on aligned, Data cleaning
+ data post-‐ georeferenced & thinning
processing point cloud
Vegeta?on
filtering &
classifica?on
Raster data Surface

Analysis & genera?on
products &
science!
surfaces (DEMs) (DEMs etc)
Terrestrial Laser Scanning Project Summary
Project Planning
•  Choose instrument based on capabili?es and science/data goals.
•  Schedule based on instrument availability, science requirements,
environmental factors.
•  Use Google Earth, field site photos, etc. to establish preliminary
loca?ons for scan posi?ons, control targets, registra?on targets, etc.

Instrument calibra%on & data collec%on

Post-‐processing & Analysis

•  Make a copy of the data collected in the field. Keep the original
project(s) in a safe place. Post process using the copy of the project.

Metadata
•  Project summary document.
•  GPS data (raw files, rinex files, antenna heights, log sheets, etc.).
•  Field photos.
•  Google Earth files, etc.

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Terrestrial

Laser Scanning Principles

Chris Crosby, UNAVCO

w/ slides from D. Phillips,UNAVCO

• Spot size (range, divergence)

• Riegl VZ400 Maximum measurement range as function of target material

Shot Spacing / Sample Density

Standard tie point workflow (e.g., Riegl RiScan Pro)

Moab, Utah survey site

Mul%ple survey posi%ons

Survey Tie Points

• Resolution vs. Areal Coverage...only so much time available! Let the

Data volume can be a problem:

• Technology outpaces most software for data

• Just because you can, doesn’t mean you should

• Science application should define data

• 3D “point cloud” of discrete loca?ons derived from range and

• XYZ posi?on in cartesian coordinates plus associated point

• 3D point clouds are the basis for subsequent analysis and

• UNAVCO standard deliverable = merged, aligned,

Height True Color

A note on coordinate systems:

• Three types of coordinate systems used in TLS:

• Remember the scanner thinks only in angles and distances

• Initially, all scans are independent w/ measurements relative to

• Tie points link scans together = project coordinates (PRCS)

• Independent GPS information allows georeferencing of data

TLS data often delivered in Earth Centered, Earth Fixed coordinates.

• Preferred by geodesy community

• Not GIS friendly! Requires

• Applica?on of data maQers

• Beware ver?cal datums…

Field data Merged,

Raster data Surface

Instrument calibra%on & data collec%on

Post-­‐processing & Analysis

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•  Spot size (range, divergence)

•  Riegl VZ400 Maximum measurement range as function of target material

•  Resolution vs. Areal Coverage...only so much time available! Let the

•  Technology outpaces most software for data

•  Just because you can, doesn’t mean you should

•  Science application should define data

•  3D “point cloud” of discrete loca?ons derived from range and

•  XYZ posi?on in cartesian coordinates plus associated point

•  3D point clouds are the basis for subsequent analysis and

•  UNAVCO standard deliverable = merged, aligned,

•  Three types of coordinate systems used in TLS:

•  Remember the scanner thinks only in angles and distances

•  Initially, all scans are independent w/ measurements relative to

•  Tie points link scans together = project coordinates (PRCS)

•  Independent GPS information allows georeferencing of data

•  Preferred by geodesy community

•  Not GIS friendly! Requires

•  Applica?on of data maQers

•  Beware ver?cal datums…

Post-‐processing & Analysis