Compact Multipurpose Mobile Laser Scanning System — Initial Tests and Results

Abstract

Abstract:We describe a prototype compact mobile laser scanning system that may be operated from a backpack or unmanned aerial vehicle. The system is small, self-contained, relatively inexpensive, and easy to deploy. A description of system components is presented, along with the initial calibration of the multi-sensor platform. The first field tests of the system, both in backpack mode and mounted on a helium balloon for real-world applications are presented. For both field tests, the acquired kinematic LiDAR data are compared with highly accurate static terrestrial laser scanning point clouds. These initial results show that the vertical accuracy of the point cloud for the prototype system is approximately 4 cm (1σ) in balloon mode, and 3 cm (1σ) in backpack mode while horizontal accuracy was approximately 17 cm (1σ) for the balloon tests. Results from selected study areas on the Sacramento River Delta and San Andreas Fault in California demonstrate system performance, deployment agility and flexibility, and potential for operational production of high density and highly accurate point cloud data. Cost and production rate trade-offs place this system in the niche between existing airborne and tripod mounted LiDAR systems.

Mobile Laser Scanning Applied to the Earth Sciences

“…This deviation falls to about 3 centimeters when the system is used on a backpack [Glennie et al, 2013a]. Horizontal locations have errors that are a factor of 3−4 larger than vertical, as expected given the larger beam spreading and decreased far-field accuracy of the INS.…”

“…After mission completion, onboard GPS observations are combined with data from local GPS base stations to determine a precise kinematic trajectory that is then blended with the INS measurements to yield an optimal estimate of platform position and view angle. Combining the estimated trajectory and attitude with raw range and angle measurements from the laser yields a globally referenced lidar point cloud [Glennie et al, 2013a].…”

“…The principal components of the Blidar system are a Velodyne HDL-32E near-infrared laser scanner that can reach targets about 100 meters away, an Oxford Technical Services Inertial+2 INS that provides high-resolution estimates of the roll and pitch (roughly 0.03°) and heading (roughly 0.1°) of the mobile platform, and Novatel dual-frequency GPS antennae and receivers, which provide platform trajectory at better than 10-centimeter scale [Glennie et al, 2013a]. These instruments, including a battery package and a computer that logs data and receives commands, fit into a roughly 40 × 40 × 30 centimeter carbon-fiber box (Figure 1b).…”

3D Modeling of Coarse Fluvial Sediments Based on Mobile Laser Scanning Data

“…An associated Euler-Lagrange equation for function is deduced to minimize the functional in (9) respect to . Parameterizing the descent direction by an artificial time , the equation in is: , = 0 on (10) where is the Dirac delta function as , , denotes the exterior normal to the curve , and denotes the normal derivative of at the boundary.…”

“…Backpack-based platforms [9,10] are designed to meet the challenges set by the terrains and environments that are hard to access for typical MLS platforms such as vehicles, UAVs and helium-balloons. In this study, a MLS system called "Akhka" is applied to collect the sedimentary information on the gravel bar in the study site.…”