Abstract
We propose a complete methodology for the fine registration and referencing of kilo-station networks of terrestrial laser scanner data currently used for many valuable purposes such as 3D as-built reconstruction of Building Information Models (BIM) or industrial asbuilt mock-ups. This comprehensive target-based process aims to achieve the global tolerance below a few centimetres across a 3D network including more than 1,000 laser stations spread over 10 floors. This procedure is particularly valuable for 3D networks of indoor congested environments. In situ, the use of terrestrial laser scanners, the layout of the targets and the set-up of a topographic control network should comply with the expert methods specific to surveyors. Using parametric and reduced Gauss-Helmert models, the network is expressed as a set of functional constraints with a related stochastic model. During the post-processing phase inspired by geodesy methods, a robust cost function is minimised. At the scale of such a data set, the complexity of the 3D network is beyond comprehension. The surveyor, even an expert, must be supported, in his analysis, by digital and visual indicators. In addition to the standard indicators used for the adjustment methods, including Baarda’s reliability, we introduce spectral analysis tools of graph theory for identifying different types of errors or a lack of robustness of the system as well as <i>in fine</i> documenting the quality of the registration.
Highlights
From cultural heritage to industrial purposes, the use of 3D asbuilt mock-ups has become a standard for many applications
In the case of large networks of internal laser stations, the registration problems can be expressed as a problem concerning the adjustment of the constraints between targets recognised from several points of view
For large scan networks, a block calculation using the least squares method, such as proposed in (Mikhail, 1976) or more recently in (Strang and Borre, 1997), is generally implemented such as in the network of 500 stations in a cave (Gallay et al, 2015). Such as pointed out in (Scaioni, 2012), the use of common tools in geodesy is hardly referred to in literature concerning the registration of large laser networks, which become the daily work of a certain number of surveyors
Summary
From cultural heritage to industrial purposes, the use of 3D asbuilt mock-ups has become a standard for many applications. To maintain facilities for instance, the knowledge of 3D geometry of the factory is valuable through many use-cases: maintenance planning, handling, storage, replacement or replacement of important components Such as-built 3D models (CAD or BIM format) are reconstructed (or adjusted) as close as possible to a 3D point cloud, acquired in situ in compliance with the quality requirements (exhaustiveness, accuracy, precisions and reliability). In complex indoor scenes, is there no GNSS to estimate poses, but the inter-visibilities between the targets and stations are weak and restrict the robustness of the network This paper describes a global adjustment method for kilo-station networks recommended and implemented for large indoor laser scan networks. The whole article is illustrated by experiments carried out on real data sets, including a network of 1,000 laser stations
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