Terrestrial Laser Scanning Point Clouds Research Articles

Segmenting Individual Tree from TLS Point Clouds Using Improved DBSCAN

Terrestrial laser scanning (TLS) can provide accurate and detailed three-dimensional (3D) structure information of the forest understory. Segmenting individual trees from disordered, discrete, and high-density TLS point clouds is the premise for obtaining accurate individual tree structure parameters of forest understory, pest control and fine modeling. In this study, we propose a bottom-up method to segment individual trees from TLS forest data based on density-based spatial clustering of applications with noise (DBSCAN). In addition, we also improve the DBSCAN based on the distance distribution matrix (DDM) to automatically and adaptively determine the optimal cluster number and the corresponding input parameters. Firstly, the proposed method is based on the improved DBSCAN to detect the trunks and obtain the initial clustering results. Then, the Hough circle fitting method is used to modify the trunk detection results. Finally, individual tree segmentation is realized based on regional growth layer-by-layer clustering. In this paper, we use TLS multi-station scanning data from Chinese artificial forest and German mixed forest, and then evaluate the efficiency of the method from three aspects: overall segmentation, trunk detection and small tree segmentation. Furthermore, the proposed method is compared with three existing individual tree segmentation methods. The results show that the total recall, precision, and F1-score of the proposed method are 90.84%, 95.38% and 0.93, respectively. Compared with traditional DBSCAN, recall, accuracy and F1-score are increased by 6.96%, 4.14% and 0.06, respectively. The individual tree segmentation result of the proposed method is comparable to those of the existing methods, and the optimal parameters can be automatically extracted and the small trees under tall trees can be accurately segmented.

Automatic Assessment of Individual Stem Shape Parameters in Forest Stands from TLS Point Clouds: Application in Pinus pinaster

Tree morphological characteristics, particularly straightness and lean, significantly influence the value of the commercial products that can be obtained. Despite this, they are not usually evaluated in timber field inventories because traditional techniques are labor-intensive and largely subjective, hence the use of these parameters is limited to research and genetic breeding programs. Here, a non-destructive, fully automated methodology is presented that estimates the parameters for describing straightness and lean using terrestrial laser scanning (TLS) data. It is based on splitting stems into evenly spaced sections and estimating their centers, which are then used to automatically calculate the maximum sagitta, sinuosity, and lean of each tree. The methodology was applied in a breeding trial plot of Pinus pinaster, and the results obtained were compared with field measurements of straightness and lean based on visual classification. The methodology is robust to errors in the estimation of section centers, the basis for calculating shape parameters. Besides, its accuracy compares favorably with traditional field techniques, which often involve problems of misclassification. The new methodology is easy to use, less expensive, and overcomes the drawbacks of traditional field techniques for obtaining straightness and lean measurements. It can be modified to apply to any species and stand typology.

Targetless Coregistration of Terrestrial Laser Scanning Point Clouds Using a Multi Surrounding Scan Image-Based Technique

The coregistration of terrestrial laser point clouds is widely investigated where different techniques are presented to solve this problem. The techniques are divided either as target-based or targetless approaches for coarse and fine coregistration. The targetless approach is more challenging since no physical reference targets are placed in the field during the scanning. Mainly, targetless methods are image-based and they are applied through projecting the point clouds back to the scanning stations. The projected 360 point cloud images are normally in the form of panoramic images utilizing either intensity or RGB values, and an image matching is followed to align the scan stations together. However, the point cloud coregistration is still a challenge since ICP like methods are applicable for fine registration. Furthermore, image-based approaches are restricted when there is: a limited overlap between point clouds, no RGB data accompanied to intensity values, and unstructured scanned objects in the point clouds. Therefore, we present in this paper the concept of a multi surrounding scan MSS image-based approach to overcome the difficulty to register point clouds in challenging cases. The multi surrounding scan approach means to create multi-perspective images per laser scan point cloud. These multi-perspective images will offer different viewpoints per scan station to overcome the viewpoint distortion that causes the failure of the image matching in challenging situations. Two experimental tests are applied using point clouds collected in Enschede city and the published 3D toolkit data set in Bremen city. The experiments showed a successful coregistration approach even in challenging settings with different constellations.

3D MODELLING METHOD OF HIGH ABOVE GROUND ROCK ART PAINTING USING MULTISPECTRAL CAMERA

Abstract. This paper presents a developed methodology of 3D modelling of rock art painting located at high above shelter floor based on close-range photogrammetric technique. Instead of using elevated devices to reach inaccessible paintings due to high elevation, the developed method proposed a simple technique. The camera was mounted on an expandable pole to acquire the panel with normal and tilted camera settings. Due to inaccessibility to place the control point marker on the panel surface, the distribution of photo control was positioned below the panel. Based on the configuration, the image of the panel was acquired using the low-spatial resolution multispectral camera in a two elevated strips position that imitates the aerial photogrammetry flight line. The camera was set parallely to the painting panel on both strips, with additional tilted geometry included at the upper strip of the camera block. The acquired multispectral images were then processed using commercial SfM photogrammetry software to generate a 3D point cloud. The accuracy of constructed point cloud was then analysed by comparing it with the point cloud generated using a terrestrial laser scanner (TLS). The result has shown that the multispectral 3D point cloud has a small deviation against the TLS point cloud. The mean deviation was -0.43mm, indicating a slight downscaled on the multispectral point cloud.

CO-REGISTRATION OF TLS POINT CLOUDS WITH SCAN-PATCHES AND BIM-FACES

Abstract. To geometrically compare point clouds with Building Information Modeling (BIM) models, they must be transformed to the same coordinate system. The determination of the transformation parameters is called registration. If another model is used instead of control points, the term co-registration has recently been established. The plane-based (relative) registration of point clouds from terrestrial laser scanning (TLS) is successfully used in practice with high accuracy and quality assurance. Based on this, we present a special co-registration approach, that makes use of planes from BIM models. Most buildings have a large number of planar faces, so it is obvious to use faces from BIM. We present intermediate research results of an approach that uses the local planes (patches) of the TLS point clouds also to determine the transformation parameters for the registration to BIM. The aim is to avoid the need of ground control points. The approach requires a (partially) existing BIM model in which the highly precise point cloud is to be registered. In the long term, the procedure is developed for automated construction progress documentation.

Operationalizing the use of TLS in forest inventories: The R package FORTLS

Terrestrial Laser Scanning (TLS) devices show great potential for application in Forest Inventories (FIs) as they are capable of registering high resolution point clouds rapidly and automatically. Nevertheless, operational use of TLS for FI purposes has been hampered by the absence of algorithms for processing the acquired data, particularly in the single-scan mode, as occlusions result in loss of information. The R package FORTLS has been developed to overcome this obstacle, as it automates the processing of single-scan TLS point cloud data for forestry purposes and includes several features that deal with occlusions. FORTLS makes use of the main advantage of the single-scan scenario in FI, thus improving the efficiency of data acquisition and post-processing. All of these features of the FORTLS package are potentially valuable for the operational use of TLS in FIs, in combination with inference techniques derived from model-based and model-assisted approaches.

Historic Timber Roof Structure Reconstruction through Automated Analysis of Point Clouds.

We present a set of methods to improve the automation of the parametric 3D modeling of historic roof structures using terrestrial laser scanning (TLS) point clouds. The final product of the TLS point clouds consist of 3D representation of all objects, which were visible during the scanning, including structural elements, wooden walking ways and rails, roof cover and the ground; thus, a new method was applied to detect and exclude the roof cover points. On the interior roof points, a region-growing segmentation-based beam side face searching approach was extended with an additional method that splits complex segments into linear sub-segments. The presented workflow was conducted on an entire historic roof structure. The main target is to increase the automation of the modeling in the context of completeness. The number of manually counted beams served as reference to define a completeness ratio for results of automatically modeling beams. The analysis shows that this approach could increase the quantitative completeness of the full automatically generated 3D model of the roof structure from 29% to 63%.

Automatically extracting surfaces of reinforced concrete bridges from terrestrial laser scanning point clouds

Three-dimensional (3D) geometric bridge models play an important role in bridge inspection, assessment, and management. Laser scanning nowadays offers a cost-efficient method to capture dense, accurate 3D topographic data of surfaces of the bridge. However, given the typical complexity of bridges, current workflows using commercial software to construct a bridge model still require intensive labour work. This paper presents a new approach to automatically extract the point cloud of surfaces of structural components of box and slab-beam bridges. The proposed method consists of 3 Parts: (1) point-to-surface, (2) superstructure and (3) substructure extraction. The method uses both spatial point clouds and contextual knowledge to extract point cloud subsets corresponding to surfaces of individual bridge components in a consecutive order from superstructure to substructure. For each bridge component, two levels of extraction are (1) coarse extraction to separate candidate points of the component from the full data set and (2) fine filtering to obtain final 3D points of individual surfaces using cell- or voxel-based region growing (CRG or VRG), followed by a connected surface component (CSC) method. An experimental test on one box-girder and one slab-beam bridges shows that the proposed method successfully extracts all surfaces of bridge components with the lowest F1-score of 0.93 based on a point-based evaluation. Moreover, a shape similarity evaluation also shows that discrepancies between extracted surfaces and ground truth ones are no larger than 0.82 for the area overlap ratio and 0.59 degrees for the angular deviation. The proposed method contributes to the automatic generation of 3D geometric bridge models and to give point clouds of individual surface for damage identification.

Automatic Deformation Extraction Method of Buildings in Mining Areas Based on TLS Point Clouds

Presently, the deformation extraction of buildings in mining areas using terrestrial laser scanner (TLS) point clouds is performed manually. Automatic deformation extraction holds great significance for building deformation monitoring in mining areas. Therefore, this study proposes an automatic extraction method for building deformation in mining areas using TLS point clouds. The corner points of doors and windows on the wall are considered as key points and the wall deformation in the mining area is extracted with minimal manual intervention. First, the input data were preprocessed, including 2D boundary point cloud acquisition and denoising (using a distance slope filter). Next, the key points were extracted via three steps: boundary line splitting, seed key point clustering, and key point judgment. Finally, the 3D coordinates of the key points and the relationship between the key points of the two phases were established to calculate the deformation value. The results confirmed negligible difference between the deformation value extracted using this method and the real value. Most of the errors were between −5 and 5 mm, and only a few exceeded ±5 mm; however, no error exceeded ±9 mm. The deformation value obtained using this method was almost identical to that obtained using the manual method, and the absolute error between them was below 8 mm. The performance verification of this method showed that the proposed distance slope filter removed the noise points more effectively compared to that of the traditional denoising filters, i.e., statistical and radius filters, establishing its suitability for the complex measurement environment of mining areas. During the automatic extraction of key point coordinates, the root mean square error (RMSE) values were below 2.0 mm; RMSE values during manual extraction were below 7.1 mm. The proposed method demonstrated greater stability than that of the manual extraction method.

Discriminating Forest Leaf and Wood Components in TLS Point Clouds at Single-Scan Level Using Derived Geometric Quantities

Discriminating leaf and wood components in terrestrial laser scanning (TLS) point clouds is a prerequisite for accurately estimating 3-D structural and biophysical attributes of both individual trees and entire forests. However, most existing separation methods are conducted at local (i.e., individual or plot) level. The local level separation methods need a presegmentation of the acquired point clouds, and the separation accuracy and reliability are greatly influenced by forest occlusion effect and point cloud qualities. A new generalized method merely based on differences in geometric features, including curvature, density, and salient features, is proposed in this study for separating leaf and wood components at the TLS single-scan level. A preliminary separation is conducted using the quantity of normal change rate (i.e., surface variation) given that leaf points often demonstrate sharp local curvature changes. Then, separation is continually conducted on the basis of calibrated density data (i.e., number of points in a given radius) because of the scattered orientations and small sizes of leaves. Finally, a new self-adjusting connectivity segmentation algorithm is proposed to group remaining points into different clusters. Leaf and wood clusters are separated in accordance with salient features and sizes simultaneously. Results indicate that derived geometric quantities from curvature, density, and salient features of individual points and segmented clusters can be jointly used to discriminate leaf and wood components effectively and robustly in single-scan TLS point clouds with a mean overall accuracy of approximately 93%. In addition, results show good performance in terms of the insensitivity to distance, instrument type, occlusion effect, and forest composition of the proposed method.

Automatic Pairwise Coarse Registration of Terrestrial Point Clouds Using 3D Line Features

The fully automatic registration of 3D terrestrial laser scanning (TLS) point clouds, which is the first step in the usage of point clouds, is a highly challenging task in Light Detection and Ranging (LiDAR) remote sensing applications. Here, an automatic algorithm for pairwise coarse registration of TLS point clouds using 3D line features is proposed. First, the 3D line sets were extracted from the original pair of point clouds respectively, and two arbitrary lines from a point cloud were used to construct a 2-line base; Then, a pair of conjugate 2-line bases were identified from the source and target 3D line sets at a time, based on which a 3D rotation matrix together with its corresponding overlap between the pairwise 3D line sets was calculated; Third, a series of 3D rotation matrixes together with their overlaps were obtained using the traversing strategy to identify conjugate 2-line base pairs, and the 3D rotation matrix with the highest overlap was outputted as the final 3D rotation matrix, which was further used to compute the corresponding lines set from the pairwise 3D line sets; Next, based on the set of common perpendicular midpoints between the line correspondences, the 3D translation vector was computed; Finally, the 3D transformation matrix between pairwise point clouds was obtained by combining the 3D rotation matrix and the 3D translation vector. The proposed method was tested on three different TLS datasets, with experimental results demonstrating that the proposed algorithm could perform well on registering pairwise TLS point clouds. The rotation and translation errors of aligning the nine experimental pairwise point clouds were all less than 0.50° and 0.55m, respectively. This registration framework was also shown to be superior to state-of-the-art methods in terms of registration accuracy.

Automatic Segmentation of Individual Grains From a Terrestrial Laser Scanning Point Cloud of a Mountain River Bed

In this article, we propose a method for instance segmentation of individual grains from a terrestrial laser scanning point cloud representing a mountain river bed. The method was designed as a classification followed by a segmentation approach. The binary classification into either points representing river bed or grains is performed using the random forest algorithm. The point cloud is classified based only on geometrical features calculated for a local, spherical neighborhood. A multisize neighborhood approach was used together with the feature selection method that is based on correlation analysis. The final classification was performed using a set of features calculated for the neighborhood size of 5, 15, and 20 cm. The achieved classification results have the overall accuracy of 85–95%, depending on the test site. The segmentation is performed using the density-based spatial clustering of applications with noise algorithm in order to cluster the point cloud based on Euclidean distances between points. The performed experiments showed that the proposed method enables us to correctly delineate 67–88% of grains, depending on the test site. However, the resulting point cloud based completeness expressed as Jaccard index is similar for each of the test sites and is approximately 88%. Moreover, the proposed method proved that it is robust to the shadowing effect.

Measuring tree growth using terrestrial laser scanning

Forests are dynamic ecosystems that are constantly changing. The most common natural reasons for change in forests are the growth and death of trees, as well as the damage occurring to them. Tree growth appears as an increment of its structural dimensions, such as stem diameter, height, and crown volume, which all affect the structure of a tree. Repeated measurements of tree characteristics enable observations of the respective increments indicating tree growth. According to current knowledge, the tree growth process follows the priority theory, where trees aim to achieve sufficient lightning conditions for the tree crown through primary growth, whereas increment in diameter results from the secondary growth. Tree growth is known to have an effect on the carbon sequestration potential of trees as well as on the quality of timber. To improve the understanding of the underlying cause–effect relations driving tree growth, methods to quantify structural changes in trees and forests are needed. The use of terrestrial laser scanning (TLS) has emerged during the recent decade as an effective tool to determine attributes of individual trees. However, the capacity of TLS point cloud-based methods to measure tree growth remains unexplored. This thesis aimed at developing new methods to measure tree growth in boreal forest conditions by utilizing two-date TLS point clouds. The point clouds were also used to investigate how trees allocate their growth and how the stem form of trees develops, to deepen the understanding of tree growth processes under different conditions and over the life cycle of a tree. The capability of the developed methods was examined during a five- to nine-year monitoring period with two separate datasets consisting of 1315 trees in total. Study I demonstrated the feasibility of TLS point clouds for measuring tree growth in boreal forests. In studies II and III, an automated point cloud-based method was further developed and tested for measuring tree growth. The used method could detect trees from two-date point clouds, with the detected trees representing 84.5% of total basal area. In general, statistically significant changes in the examined attributes, such as diameter at breast height, tree height, stem volume, and logwood volume, were detected during the monitoring periods. Tree growth and stem volume allocation seemed to be more similar for trees growing in similar structural conditions. The findings obtained in this thesis demonstrate the capabilities of repeatedly acquired TLS point clouds to be used for measuring the growth of trees and for characterizing the structural changes in forests. This thesis showed that TLS point cloud-based methods can be used for enhancing the knowledge of how trees allocate their growth, and thus help discover the underlying reasons for processes driving changes in forests, which could generate benefits for ecological or silvicultural applications where information on tree growth and forest structural changes is needed.

Semantic Segmentation of Terrestrial Laser Scanning Point Clouds Using Locally Enhanced Image-Based Geometric Representations

Point cloud data acquired using terrestrial laser scanning (TLS) often need to be semantically segmented to support many applications. To this end, various point-, voxel-, and image-based methods have been developed. For large-scale point cloud data, the former two types of methods often require extensive computational effort. In contrast, image-based methods are favorable from the perspective of computational efficiency. However, existing image-based methods are highly dependent on RGB information and do not provide an effective means of representing and utilizing the local geometric characteristics of point cloud data in images. This not only limits the overall segmentation accuracy but also prohibits their application to situations where the RGB information is absent. To overcome such issues, this research proposes a novel image enhancement method to reveal the local geometric characteristics in images derived by the projection of the point cloud coordinates. Based on this method, various feature channel combinations were investigated experimentally. It was found that the new combination <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$IZ_{e}D_{e}$ </tex-math></inline-formula> (i.e., intensity, enhanced <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Z$ </tex-math></inline-formula> -coordinate, and enhanced range images) outperformed the conventional <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$I$ </tex-math></inline-formula> RGB and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$I$ </tex-math></inline-formula> RGB <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$D$ </tex-math></inline-formula> channel combinations. As such, the approach can be used to replace the RGB channels for semantic segmentation. Using this new combination and the pretrained HR-EHNet considered, a mean intersection over union (mIoU) of 74.2% and an overall accuracy (OA) of 92.1% were achieved on the Semantic3D benchmark, which sets a new state of the art (SOTA) for the semantic segmentation accuracy of image-based methods.

Correspondence-driven plane-based M3C2 for lower uncertainty in 3D topographic change quantification

The analysis and interpretation of 3D topographic change requires methods that achieve low uncertainties in change quantification. Many recent geoscientific studies that perform point cloud-based topographic change analysis have used the Multiscale Model to Model Cloud Comparison (M3C2) algorithm to consider the associated uncertainty. Change measured with the M3C2 approach, however, is difficult to interpret where (1) change occurs in directions different to the direction of change computation or (2) the quantified magnitudes of change are exceeded by the associated uncertainty due to a rough surface morphology. We present a correspondence-driven plane-based M3C2 approach that is tailored to quantifying small-magnitude (< 0.1 m) 3D topographic change of rough surfaces by reducing the uncertainty of quantified change. The approach (1) extracts planar surfaces in point clouds of successive epochs, (2) identifies corresponding planar surfaces between two point clouds using a binary random forest classification, and (3) calculates M3C2 distances and the associated uncertainty between the corresponding planar surfaces. This correspondence-driven plane-based M3C2 does not require recognition or reconstruction of geometrically complex objects but instead quantifies change between less complex, homologous planar surfaces. The approach further allows to relate change directly to a moving object. We apply our approach to a bi-weekly time series of terrestrial laser scanning point clouds acquired at a rock glacier in the Austrian Alps. The approach enables a sevenfold reduction in the uncertainty associated with topographic change compared to standard M3C2. Significant change is therefore detected in 72.62% to 76.41% of the area of change analysis, whereas standard M3C2 detects significant change in only 16.21% (2-week timespan) to 59.96% (10-week timespan) of the same area. The correspondence-driven plane-based M3C2 complements 3D change analysis in applications that aim to quantify small-magnitude topographic change in photogrammetric or laser scanning point clouds with low uncertainties in natural scenes which are characterised by overall rough surface morphology and by individual rigid objects with planar surfaces (e.g., rock glaciers, landslides, debris covered glaciers).

Pavement distress detection using terrestrial laser scanning point clouds – Accuracy evaluation and algorithm comparison

In this paper, we compared five crack detection algorithms using terrestrial laser scanner (TLS) point clouds. The methods are developed based on common point cloud processing knowledge in along- and across-track profiles, surface fitting or local pointwise features, with or without machine learning. The crack area and volume were calculated from the crack points detected by the algorithms. The completeness, correctness, and F1 score of each algorithm were computed against manually collected references. Ten 1-m-by-3.5-m plots containing 75 distresses of six distress types (depression, disintegration, pothole, longitudinal, transverse, and alligator cracks) were selected to explain variability of distresses from a 3-km-long-road. For crack detection at plot level, the best algorithm achieved a completeness of up to 0.844, a correctness of up to 0.853, and an F1 score of up to 0.849. The best algorithm’s overall (ten plots combined) completeness, correctness, and F1 score were 0.642, 0.735, and 0.685 respectively. For the crack area estimation, the overall mean absolute percentage errors (MAPE) of the two best algorithms were 19.8% and 20.3%. In the crack volume estimation, the two best algorithms resulted in 19.3% and 14.5% MAPE. When the plots were grouped based on crack detection complexity, in the ‘easy’ category, the best algorithm reached a crack area estimation MAPE of 8.9%, while for crack volume estimation, the MAPE obtained from the best algorithm was 0.7%.

GACM: A Graph Attention Capsule Model for the Registration of TLS Point Clouds in the Urban Scene

Point cloud registration is the foundation and key step for many vital applications, such as digital city, autonomous driving, passive positioning, and navigation. The difference of spatial objects and the structure complexity of object surfaces are the main challenges for the registration problem. In this paper, we propose a graph attention capsule model (named as GACM) for the efficient registration of terrestrial laser scanning (TLS) point cloud in the urban scene, which fuses graph attention convolution and a three-dimensional (3D) capsule network to extract local point cloud features and obtain 3D feature descriptors. These descriptors can take into account the differences of spatial structure and point density in objects and make the spatial features of ground objects more prominent. During the training progress, we used both matched points and non-matched points to train the model. In the test process of the registration, the points in the neighborhood of each keypoint were sent to the trained network, in order to obtain feature descriptors and calculate the rotation and translation matrix after constructing a K-dimensional (KD) tree and random sample consensus (RANSAC) algorithm. Experiments show that the proposed method achieves more efficient registration results and higher robustness than other frontier registration methods in the pairwise registration of point clouds.

Building Tree Allometry Relationships Based on TLS Point Clouds and Machine Learning Regression

Most of the allometric models used to estimate tree aboveground biomass rely on tree diameter at breast height (DBH). However, it is difficult to measure DBH from airborne remote sensors, and is common to draw upon traditional least squares linear regression models to relate DBH with dendrometric variables measured from airborne sensors, such as tree height (H) and crown diameter (CD). This study explores the usefulness of ensemble-type supervised machine learning regression algorithms, such as random forest regression (RFR), categorical boosting (CatBoost), gradient boosting (GBoost), or AdaBoost regression (AdaBoost), as an alternative to linear regression (LR) for modelling the allometric relationships DBH = Φ(H) and DBH = Ψ(H, CD). The original dataset was made up of 2272 teak trees (Tectona grandis Linn. F.) belonging to three different plantations located in Ecuador. All teak trees were digitally reconstructed from terrestrial laser scanning point clouds. The results showed that allometric models involving both H and CD to estimate DBH performed better than those based solely on H. Furthermore, boosting machine learning regression algorithms (CatBoost and GBoost) outperformed RFR (bagging) and LR (traditional linear regression) models, both in terms of goodness-of-fit (R2) and stability (variations in training and testing samples).

Combination of Terrestrial Laser Scanner and Unmanned Aerial Vehicle Technology in The Manufacture of Building Information Model

The rapid development of the construction world in Indonesia has led to an increase in supporting technology that is more effective and efficient. The Building Information Model (BIM) technology that begins with the creation of an as-built 3D model, this model describes the existing condition of the building. The Terrestrial Laser Scanner (TLS) method can provide a point cloud with a decent point density, but there are still areas of the building that aren't covered, such as the roof. To be more complete and detailed, additional data is needed using an Unmanned Aerial Vehicle (UAV). The results of the combination of TLS and UAV complement each other so that the results of the point cloud can form more detailed buildings. BIM may be built by combining these two data sets, allowing for the three-dimensional depiction of assets in buildings. The registration results for TLS point cloud data have a fairly good value where the overlap value is 44.9% (minimum 30%), balance is 41.2% (minimum 20%), points &lt; 6mm is 98.9% (minimum 90%). The measurement results using the UAV have an RMSE GCP value of 0.266m and an RMSE ICP of 0.455m. Merging the results of TLS and UAV measurements is done using 3DReshaper software with four align points. The final result of making the BIM model is obtained level of detail (LOD) 3 where room models such as columns, floors, stairs, and walls are well depicted, while asset models such as furniture are also depicted although they are still simple objects.

TOWARDS A DIGITAL TWIN OF A STORAGE TANK USING LASER SCAN DATA

Abstract. This paper proposes a methodology to automatically extract components of an oil storage tank from terrestrial laser scanning (TLS) point clouds, and subsequently to create a three-dimensional (3D) solid model of the tank for numerical simulation. The proposed method is integrated into a smart analysis layer of a digital twin platform consisting of three main layers: (1) smart analysis, (2) data storage, and (3) visualisation and user interaction. In this proposed method, primary components of the tank were automatically extracted in a consecutive order from a shell wall to roof and floor. Voxel-based RANSAC is employed to extract voxels containing point clouds of the shell wall, while a valley-peak-valley pattern based on kernel density estimation is implemented to remove outlier points within voxels representing to the shell wall and re-extract data points within voxels adjoined to the shell wall. Moreover, octree-based region growing is employed to extract a roof and floor from remaining point clouds. An experimental showed that the proposed framework successfully extracted all primary components of the tank and created a 3D solid model of the tank automatically. Resulting point clouds of the shell wall were directly used for estimating deformation and a 3D solid model was imported into finite element analysis (FEA) software to assess the tank in terms of stress-strain. The demonstration shows that TLS point clouds can play an important role in developing the digital twin of the oil storage tank.