Study into Point Cloud Geometric Rigidity and Accuracy of TLS-Based Identification of Geometric Bodies

Abstract

Capability of obtaining a multimillion point cloud in a very short time has made the Terrestrial Laser Scanning (TLS) a widely used tool in many fields of science and technology. The TLS accuracy matches traditional devices used in land surveying (tacheometry, GNSS – RTK), but like any measurement it is burdened with error which affects the precise identification of objects based on their image in the form of a point cloud. The point’s coordinates are determined indirectly by means of measuring the angles and calculating the time of travel of the electromagnetic wave. Each such component has a measurement error which is translated into the final result. The XYZ coordinates of a measuring point are determined with some uncertainty and the very accuracy of determining these coordinates is reduced as the distance to the instrument increases. The paper presents the results of examination of geometrical stability of a point cloud obtained by means terrestrial laser scanner and accuracy evaluation of solids determined using the cloud. Leica P40 scanner and two different settings of measuring points were used in the tests. The first concept involved placing a few balls in the field and then scanning them from various sides at similar distances. The second part of measurement involved placing balls and scanning them a few times from one side but at varying distances from the instrument to the object. Each measurement encompassed a scan of the object with automatic determination of its position and geometry. The desk studies involved a semiautomatic fitting of solids and measurement of their geometrical elements, and comparison of parameters that determine their geometry and location in space. The differences of measures of geometrical elements of balls and translations vectors of the solids centres indicate the geometrical changes of the point cloud depending on the scanning distance and parameters. The results indicate the changes in the geometry of scanned objects depending on the point cloud quality and distance from the measuring instrument. Varying geometrical dimensions of the same element suggest also that the point cloud does not keep a stable geometry of measured objects.