Terrestrial LiDAR sensor modeling towards optimal scan location and spatial density planning for 3D surveying
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ORIGINAL PAPER
Terrestrial LiDAR sensor modeling towards optimal scan location and spatial density planning for 3D surveying Sajid Mahmood 1,2
&
Zulkepli Majid 1 & Khairulnizam M. Idris 1
Received: 18 June 2019 / Accepted: 10 May 2020 # Società Italiana di Fotogrammetria e Topografia (SIFET) 2020
Abstract Terrestrial laser scanners (TLS) are being used for acquisition of 3D data in real time at much faster speed as compared to conventional surveying techniques and thus are considered as a technology making paradigm shift in 3D surveying. Use of TLS by surveyors in large scale surveying is limited due to non-availability of standardized technological guiding principles for deciding the scanning geometry elements like range, resolution, and scanner location beforehand. Resolution is the more critical element because it dictates the others. In order to achieve optimal use of TLS for surveying applications, mathematical models has been proposed for different topographic surface configurations for determining the most appropriate inter point spacing which is a prerequisite for mapping at required level of detail (LOD), which renders an optimized scanner location and resolution. The mathematical models have been tested by field experimentations on different surface configurations and results presented for different scenarios. The results validate the mathematical models; hence, these can be used in discovering best suitable locations beforehand conforming to the required spatial density and thus economizing the overall surveying efforts and related costs. Keywords Terrestrial laser scanning . Spatial density . Sensor modelling . 3D surveying . Inter point spacing . Point cloud
Introduction Surface of Earth comprises of relief, natural features and manmade features which are generally referred to as topographic features or simply the topography of Earth. The planimetric locations and elevations of all the features are determined through topographic surveys which are performed to prepare highly detailed topographic maps and digital databases. The features along with their details are processed through cartographic rules and then are represented in hard copy cartographic maps or used in geographic information system (GIS) for future reference for a diverse nature of applications/requirements. The geographic feature data is captured as per some scale which depicts the level of details (LODs—what maximum size of an object is to be mapped)
* Sajid Mahmood [email protected] 1
Faculty of Built Environment and Surveying, University Technology Malaysia, 81310 Johor Bahru, Malaysia
2
Institute of Geographic Information System, National University of Science and Technology (NUST) H-12, Islamabad, Pakistan
to be represented in the topographic map or required for 3D visualization. There are many techniques used in topographic surveying which can be categorized as manual or remote sensing (Gallay et al. 2013). The use of total station, global navigation satellite system (GNSS), e.g., global positioning system (GPS) and g
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