Terrestrial Laser Scanning Surveys Research Articles

Terrestrial laser scanning and structure-from-motion photogrammetry concordance analysis for describing the surface layer of gravel beds

Terrestrial laser scanning (TLS) and structure-from-motion photogrammetry (SfMp) offer rapid, non-invasive surveying of in situ gravels. Numerous studies have used the point clouds derived from TLS or SfMp to quantify surface layer characteristics, but direct comparison of the methods for grain-scale analysis has received relatively little attention to date. Comparing equivalent products of different data capture methods is critical as differences in errors and sampling biases between the two methods may produce different outputs, effecting further analysis. The sampling biases and errors related to SfMp and TLS lead to differences in the point clouds produced by each method. The metrics derived from the point clouds are therefore likely to differ, potentially leading to different inputs for entrainment threshold models, different trends in surface layer development being identified and different trajectories for physical processes and habitat quality being predicted. This paper provides a direct comparison between TLS and SfMp surveys of an exposed gravel bar for three different survey periods following inundation and reworking of the bar surface during high flow events. The point clouds derived from the two methods are used to describe changes in the character of the surface layer between bar inundation events, and comparisons are made with descriptions derived from conventional pebble counts. The results found differences in the metrics derived using each method do exist, but the grid resolution used to detrend the surfaces and identify spatial variations in surface layer characteristics had a greater impact than survey method. Further research is required to understand the significance of these variations for quantifying surface texture and structure and for predicting entrainment thresholds and transport rates.

The investigation on high-rise building tilting from the issue of land subsidence in Jakarta City

One of the issues from land subsidence consequences is tilting on building. At the places where differential subsidence is existed we might literally see the building tilted. Jakarta is a mega city in Indonesia where significant land subsidence (e.g. 1-26 centimeter per year) is happening today. Issue of tilting on buildings due to land subsidence in Jakarta has been raisin. There is one high-rise building namely Menara Saidah which is judging to be tilting. As consequences the building has been abandoned. The building in the office of House of Representative is also being rumored to be tilting. Judging and rumored are not scientific, we need real measurements. There are more than two hundreds of high-rise buildings established in Jakarta city. We use the Terrestrial Laser Scanner survey to investigate the issue of high-rise building. This technology has capability to create 3D object with milimeter accuracy. Tilting on the building can be seen simply by their verticality. We have chosen several high-rise buildings to accurately measure, especially where large subsidence is there. This paper is a highlight on the investigation. As the conclusion we found the verticality of investigated buildings are still within the tolerance.

Characteristics and block kinematics of a fault-related landslide in the Qinba Mountains, western China

The Qiyangou landslide occurred on July 182,010 in the Qinba Mountains of China and resulted in 29 deaths. The landslide or slope failure took place in carbonaceous slate of the upper Ordovician and lower Silurian Banjiuguan Group. A fault coincided with the location of the eastern scarp of the Qiyangou landslide. To study the geological and tectonic characteristics of the landslide, detailed field investigation, terrestrial laser scanner (TLS) survey and the quartz C-axis fabric analysis were conducted. Three-dimensional distinct element modeling was used to determine the potential slope failure mechanisms. The results demonstrated that the mechanism and stability of the slope changed as the internal discontinuity sets changed. The failure initiated on the eastern side along the fault plane and propagated along other pre-existing discontinuities to discontinuity set 1 (DS1). The shear strength of the overall block stability was contributed by the DS1. Based on the results of this study, we postulate that the wedge-planar failure was aided by the pre-existing fault.

Detectability of Repeated Airborne Laser Scanning for Mountain Landslide Monitoring

Multi-temporal airborne laser scanning (ALS) surveys have become a prime consideration for detecting landslide movements and evaluating landslide risk in mountain areas. The minimum elevation change (or detectability) that can be detected by repeated ALS surveys has become a critical threshold for landslide researchers and engineers to decide if ALS is a capable tool for detecting targeted landslides and arranging the minimum time span between two scans if ALS is a choice. The National Center for Airborne Laser Mapping (NCALM) at the University of Houston conducted three repeated ALS surveys at the Slumgullion landslide site in Colorado, U.S. over one week in July of 2015. These repeated ALS surveys provide valuable datasets for evaluating the vertical detectability of multi-temporal ALS surveys in a typical mountain area. According to this study, the difference of digital elevation models (DDEM) derived from ALS has the ability of detecting a minimum elevation change of 5 cm over flatter and moderately rugged terrain areas (slope < 20 degrees) and a minimum of a 10-cm elevation change over rugged terrain areas (20 degrees < slope < 40 degrees). However, the DDEM values over highly rugged terrain areas (slope > 40 degrees), such as cliff and landslide scarps, should be interpolated with caution. Global Navigation Satellite Systems (GNSS) and Terrestrial Laser Scanning (TLS) surveys were also performed at the middle portion of the landslide area for assessing the accuracy of ALS datasets. The accuracy of ALS varies from approximately one decimeter (~10 cm) to one foot (~30 cm) depending on the roughness of terrain surface and vegetation coverage (point density). The detectability and accuracy estimates of ALS measurements obtained from the case study could be used as a reference for estimating the performance of modern ALS in mountain areas with similar topography and vegetation coverage.

Recession and Ice Surface Elevation Changes of Baranowski Glacier and Its Impact on Proglacial Relief (King George Island, West Antarctica)

Glacial forefields areas are dynamic landscapes, and due to the glacier frontal position changes, they are sensitive to climatic fluctuations. The results of the analysis of aerial photos, satellite imagery, archival maps, and terrestrial laser scanning surveys are presented. These investigations reveal that the ice surface decreased during the period 1989–2001, when almost the entire current forefield was already uncovered. Moreover, it is shown that, since 1969, there has been a relationship between the changes in air temperature and the changes of the annual front position rate of Baranowski Glacier. Specifically, the results demonstrate that during the cooling observed for the Antarctic Peninsula Regions since 2000, there is a deceleration of the recession rate and ice surface elevation changes of Baranowski Glacier. It is also shown that the fluctuation of the areal extent of the glacier as well as ice surface elevation changes are closely associated with proglacial relief. Moreover, it is shown that the difference in the retreat of the northern and southern tongue of the glacier can be explained by the presence of relatively warm water in the shallow bay, which can enhance the melting process of the northern part. In addition, existence of long flutes and crevasse fill ridges on the analyzed forefield of Baranowski Glacier suggest that the former episodes of its surge, which could happen at least in the northern part of the forefield and middle part of the southern forefield of the glacier.

The Contribution of Terrestrial Laser Scanning to the Analysis of Cliff Slope Stability in Sugano (Central Italy)

In this work, we describe a comprehensive approach aimed at assessing the slope stability conditions of a tuff cliff located below the village of Sugano (Central Italy) starting from remote geomechanical analysis on high-resolution 3D point clouds collected by terrestrial laser scanner (TLS) surveys. Firstly, the identification of the main joint systems has been made through both manual and automatic analyses on the 3D slope model resulting from the surveys. Afterwards, the identified joint sets were considered to evaluate the slope stability conditions by attributing safety factor (SF) values to the typical rock blocks whose kinematic was proved as compatible with tests for toppling under two independent triggering conditions: hydrostatic water pressure within the joints and seismic action. The results from the remote investigation of the cliff slope provide geometrical information of the blocks more susceptible to instability and pointed out that limit equilibrium condition can be achieved for potential triggering scenarios in the whole outcropping slope.

Surface movement and cascade processes on debris cones in temperate high mountain (Picos de Europa, northern Spain)

Debris talus is a very common landform in the temperate high mountain, so much so that it is the most representative of the periglacial and nival processes. This work studies debris cones in the Picos de Europa, an Atlantic mountain range in the north of the Iberian Peninsula. A detailed geomorphological map was prepared, fieldwork was carried out on the debris cone surface, the ground and air thermal regime was analyzed, and a five-year Terrestrial Laser Scan survey carried out. Annual volume changes on the surface of the debris cones were detected and related to active processes and sediment transfer. Two different behaviors were observed in each cone. Cone A is linear, with equilibrium between accumulation and sediment transfer, while Cone B is concave-convex denoting accumulation processes in the upper part deriving from the greater frequency of snow avalanches. Changes in morphology surpass 50 cm/year with most of the activity taking place in the highest and lowest areas. The presence and action of the ice on the debris slope are moderate or non-existent and freeze-thaw processes are only active on the walls at over 2000 m a.s.l. The main processes on debris cones are debris flow and creep related to snowcover, but sediment transfer on the slopes involves high intensity-low frequency (debris flow, avalanches) and high frequency-low intensity processes (creep, shift, solifluction and wasting).

THE USE OF THE UAV IMAGES FOR THE BUILDING 3D MODEL GENERATION

Abstract. The growing interest in recent years in Unmanned Aerial Vehicles (UAVs) by the scientific community, software developers, and geomatics professionals, has led these systems to be used more and more widely, in different fields of engineering and architecture. This is thanks, above all, to their flexibility of use and low cost compared to traditional photogrammetric flights using expensive metric digital cameras or LiDAR sensors. In recent years, UAVs have also been used in the field of monitoring and inspection of public or private buildings that are remarkable in terms of size and architecture. This is mainly due to the focus a sustainability and resource efficiency in the building and infrastructure sector, which aims to extend their lifetimes. Through the use of remote checking using UAVs, the monitoring and inspection of buildings can be brought to a new level of quality and saving. This paper focuses on the processing and study of 3D models obtained from images captured by an UAV. In particular, the authors wanted to study the accuracy gains achieved in the building 3D model obtained with both nadir and oblique UAV flights. The images from the flights were processed using Structure-for Motion-based approach for point cloud generation using dense image-matching algorithms implemented in an open source software. We used the open source software VisualSfM, developed by Chanchang Wu in collaboration with the University of Washington and Google. The dense matching plug-in integrated in its interface, PMVS/CMVS, made by Yasutaka Furukawa, was employed to generate the dense cloud. The achieved results were compare with those gained by Photoscan software by Agisoft and with 3D model from the Terrestrial Laser Scanner (TLS) survey.

An analytical approach to evaluate point cloud registration error utilizing targets

Point cloud registration is essential for processing terrestrial laser scanning (TLS) point cloud datasets. The registration precision directly influences and determines the practical usefulness of TLS surveys. However, in terms of target based registration, analytical point cloud registration error models employed by scanner manufactures are only suitable to evaluate target registration error, rather than point cloud registration error. This paper proposes an new analytical approach called the registration error (RE) model to directly evaluate point cloud registration error. We verify the proposed model by comparing RE and root mean square error (RMSE) for all points in three point clouds that are approximately equivalent.

Advanced procedure for documenting and assessment of Cultural Heritage: from Laser Scanning to Finite Element.

This paper discusses an approach for identification of historic buildings that combines Terrestrial Laser Scanning (TLS) survey, Deviation Analysis (DA) and Finite Element (FE) numerical modelling. The methodology is presented through the application to an illustrative case study: an early medieval period brick minaret located in Aksaray (Turkey). Precise direction of inclination, leaning angle, local deviations from circular building shape, deflections from vertical planes, local curvatures and related maps were obtained with high accuracy by DA, based on detailed point cloud 3D mesh model. In addition, differently from traditional approaches in FE analysis, a method for direct transfer of high accuracy TLS based 3D model to FE structural analysis is introduced. The FE model is subsequently employed to interpret and verify structural health of the historic building.

3D SURVEY IN COMPLEX ARCHAEOLOGICAL ENVIRONMENTS: AN APPROACH BY TERRESTRIAL LASER SCANNING

Abstract. The survey of archaeological sites by appropriate geomatics technologies is an important research topic. In particular, the 3D survey by terrestrial laser scanning has become a common practice for 3D archaeological data collection. Even if terrestrial laser scanning survey is quite well established, due to the complexity of the most archaeological contexts, many issues can arise and make the survey more difficult. The aim of this work is to describe the methodology chosen for a terrestrial laser scanning survey in a complex archaeological environment according to the issues related to the particular structure of the site. The developed approach was used for the terrestrial laser scanning survey and documentation of a part of the archaeological site of Elaiussa Sebaste in Turkey. The proposed technical solutions have allowed providing an accurate and detailed 3D dataset of the study area. In addition, further products useful for archaeological analysis were also obtained from the 3D dataset of the study area.

Performance Evaluation of Two Indoor Mapping Systems: Low-Cost UWB-Aided Photogrammetry and Backpack Laser Scanning

During the past dozen years, several mobile mapping systems based on the use of imaging and positioning sensors mounted on terrestrial (and aerial) vehicles have been developed. Recently, systems characterized by an increased portability have been proposed in order to enable mobile mapping in environments that are difficult to access for vehicles, in particular for indoor environments. In this work the performance of a low-cost mobile mapping system is compared with that of: (i) a state-of-the-art terrestrial laser scanning (TLS), considered as the control; (ii) a mobile mapping backpack system (Leica Pegasus), which can be considered as the state-of-the-art of commercial mobile mapping backpack systems. The aim of this paper is two-fold: first, assessing the reconstruction accuracy of the proposed low-cost mobile mapping system, based on photogrammetry and ultra-wide band (UWB) for relative positioning (and a GNSS receiver if georeferencing is needed), with respect to a TLS survey in an indoor environment, where the global navigation satellite system (GNSS) signal is not available; second, comparing such performance with that obtained with the Leica backpack. Both mobile mapping systems are designed to work without any control point, to enable an easy and quick survey (e.g., few minutes) and to be easily portable (relatively low weight and small size). The case study deals with the 3D reconstruction of a medieval bastion in Padua, Italy. Reconstruction using the Leica Pegasus backpack allowed obtaining a smaller absolute error with respect to the UWB-based photogrammetric system. In georeferenced coordinates, the root mean square (RMS) error was respectively 16.1 cm and 50.3 cm; relative error in local coordinates was more similar, respectively 8.2 cm and 6.1 cm. Given the much lower cost (approximately $6k), the proposed photogrammetric-based system can be an interesting alternative when decimetric reconstruction accuracy in georeferenced coordinates is sufficient.

Examination of Indoor Mobile Mapping Systems in a Diversified Internal/External Test Field

Nowadays, simultaneous localization and mapping (SLAM) algorithms support several commercial sensors which have recently been introduced to the market, and, like the more common mobile mapping systems (MMSs), are designed to acquire three-dimensional and high-resolution point clouds. The new systems are said to work both in external and internal environments, and completely avoid the use of targets and control points. The possibility of increasing productivity in three-dimensional digitization projects is fascinating, but data quality needs to be carefully evaluated to define appropriate fields of application. The paper presents the analytical measurement principle of these indoor mobile mapping systems (IMMSs) and the results of some tests performed on three commercial systems. A common test field was defined in order to acquire comparable data. By taking the already available terrestrial laser scan survey as the ground truth, the datasets under examination were compared with the reference and some assessments are presented which consider both quantitative and qualitative aspects. Geometric deformation in the final models was computed using the so-called Multiscale Model to Model Cloud Comparison (M3C2) algorithm. Cross sections and cloud to mesh (C2M) distances were also employed for a more detailed analysis. The real usability assessment is based on the features of recognizability, double surface evidence, and visualization effectiveness. For these evaluations, comparative images and tables are presented.

Multi-scale variability of storm Ophelia 2017: The importance of synchronised environmental variables in coastal impact

Low frequency, high magnitude storm events can dramatically alter coastlines, helping to relocate large volumes of sediments and changing the configuration of landforms. Increases in the number of intense cyclones occurring in the Northern Hemisphere since the 1970s is evident with more northward tracking patterns developing. This brings added potential risk to coastal environments and infrastructure in northwest Europe and therefore understanding how these high-energy storms impact sandy coasts in particular is important for future management.This study highlights the evolution of Storm (formally Hurricane) Ophelia in October 2017 as it passed up and along the western seaboard of Ireland. The largest ever recorded Hurricane to form in the eastern Atlantic, we describe, using a range of environmental measurements and wave modelling, its track and intensity over its duration whilst over Ireland. The impact on a stretch of sandy coast in NW Ireland during Storm Ophelia, when the winds were at their peak, is examined using terrestrial laser scanning surveys pre- and post-storm to describe local changes of intertidal and dune edge dynamics. During maximum wind conditions (>35 knots) waves no >2m were recorded with an oblique to parallel orientation and coincident with medium to low tide (around 0.8m). Therefore, we demonstrate that anticipated widespread coastal erosion and damage may not always unfold as predicted. In fact, around 6000m3 of net erosion occurred along the 420m stretch of coastline with maximum differences in beach topographic changes of 0.8m. The majority of the sediment redistribution occurred within the intertidal and lower beach zone with some limited dune trimming in the southern section (10% of the total erosion). Asynchronous high water (tide levels), localised offshore winds as well as coastline orientation relative to the storm winds and waves plays a significant role in reducing coastal erosional impact.

Geo-Mechanical Characterization of Carbonate Rock Masses by Means of Laser Scanner Technique

Knowledge of the geometrical and structural setting of rock masses is crucial to evaluate the stability and to design the most suitable stabilization works. In this work we use the Terrestrial Laser Scanning (TLS) at the site of the Grave of the Castellana Caves, a famous show cave in southern Italy. The Grave is the natural access to the cave system, produced by collapse of the vault, due to upward progression of instabilities in the carbonate rock masses. It is about 55-m high, bell-shaped, with maximum width of 120 m. Aim of the work is the characterization of carbonate rock masses from the structural and geo-mechanical standpoints through the use of innovative survey techniques. TLS survey provides a product consisting of millions of geo-referenced points, to be managed in space, to become a suitable database for the morphological and geological-structural analysis. Studying by means of TLS a rock face, partly inaccessible or located in very complex environments, allows to investigate slopes in their overall areal extent, thus offering advantages both as regards safety of the workers and time needed for the survey. In addition to TLS, the traditional approach was also followed by performing scanlines surveys along the rims of the Grave, following the ISRM recommendations for characterization of discontinuity in rock masses. A quantitative comparison among the data obtained by TLS technique and those deriving from the classical geo-mechanical survey is eventually presented, to discuss potentiality of drawbacks of the different techniques used for surveying the rock masses.

The Use of Nadir and Oblique UAV Images for Building Knowledge

This paper focuses on the processing and study of 3D models obtained from images captured by an unmanned aerial vehicle (UAV). In particular, we wanted to study the accuracy gains achieved in the surveying and the measurement, such as height, area, and volume, of the dimensions of the buildings in the 3D models obtained with both nadir and oblique UAV flights. These latter types of flights are particularly suitable for the 3D modeling of cities or urban agglomerations, where it is important to achieve a complete building reconstruction, including façades and footprints of buildings. For this purpose, several UAV surveys with both nadir and oblique axes were performed. The nadir flight acquired images over an area of about 3.5 hectares containing 30 buildings, while the second flight, performed with both a nadir camera and an oblique camera, was conducted on a single building. The images from the flights were processed with Photoscan software by Agisoft and with Pix4D, studying their different potentialities and functionality. The results were compared with the data from the 1:2000 scale Geotopographic Database (DBGT), with the results of a Global Navigation Satellite System (GNSS) survey and with 3D model from the Terrestrial Laser Scanner (TLS) survey. The obtained results have shown that oblique UAV flights increase the achievable accuracy both in terms of the number of points in a point cloud, and in the in measurements taken on the 3D models, with respect to the limited cost, and at the increase in time for surveying and image processing.

Examining high-resolution survey methods for monitoring cliff erosion at an operational scale

This paper aims to compare models from terrestrial laser scanning (TLS), terrestrial photogrammetry (TP), and unmanned aerial vehicle photogrammetry (UAVP) surveys to evaluate their potential in cliff erosion monitoring. TLS has commonly been used to monitor cliff-face erosion (monitoring since 2010 in Normandy) because it guarantees results of high precision. Due to some uncertainties and limitations of TLS, TP and UAVP can be seen as alternative methods. First, the texture quality of the photogrammetry models is better than that of TLS which could be useful for analysis and interpretation. Second, a comparison between the TLS model and UAV or TP models shows that the mean error value is mainly from 0.013 to 0.03 m, which meets the precision requirements for monitoring cliff erosion by rock falls and debris falls. However, TP is more sensitive to roughness than UAVP, which increases the data standard deviation. Thus, UAVP appears to be more reliable in our study and provides a larger spatial coverage, enabling a larger cliff-face section to be monitored with a regular resolution. Nevertheless, the method remains dependent on the weather conditions and the number of operators is not reduced. Third, even though UAVP has more advantages than TP, the methods could be interchangeable when no pilot is available, when weather conditions are bad or when high reactivity is needed.

Optimized Planning of Terrestrial Laser-scanner Surveys in Complex Archaeological Environments

The application of terrestrial laser scanning incomplex archaeologicalsites is an increasingly common fact in the last years. This equipment allows a quick and massive digitalization of the scanned surface, what reverts to achieve very detailed time series of the study area in a low-cost way. The main problem for this labour is to have the expertise to stablish the minimum number of scanning stations and their optimal location. If the archaeological site is really complex, the in situ decisions about the number and positions of scans can be very difficult only suitable for experts in laser scanning. Trying to provide a useful tool for archaeologists, this paper presents a methodology for planning and optimizing the scans locations taking advance of existing cartographic products. As a result, the archaeologist can plan the scanning surveying, improving and optimizing the scan positions from the office. This approach was validated over the complex archaeological site of El Tolmo de Minateda located in Albacete (Spain).

Relationship between the accumulation of sediment storage and debris-flow characteristics in a debris-flow initiation zone, Ohya landslide body, Japan

Abstract. Debris flows usually occur in steep mountain channels and can be extremely hazardous as a result of their destructive power, long travel distance, and high velocity. However, their characteristics in the initiation zones, which could possibly be affected by temporal changes in the accumulation conditions of the storage (i.e., channel gradient and volume of storage) associated with sediment supply from hillslopes and the evacuation of sediment by debris flows, are poorly understood. Thus, we studied the relationship between the flow characteristics and the accumulation conditions of the storage in an initiation zone of debris flow at the Ohya landslide body in Japan using a variety of methods, including a physical analysis, a periodical terrestrial laser scanning (TLS) survey, and field monitoring. Our study clarified that both partly and fully saturated debris flows are important hydrogeomorphic processes in the initiation zones of debris flow because of the steep terrain. The predominant type of flow varied temporally and was affected by the volume of storage and rainfall patterns. Fully saturated flow dominated when the total volume of storage was < 10 000 m3, while partly saturated flow dominated when the total volume of the storage was > 15 000 m3. Debris flows form channel topography which reflects the predominant flow types during debris-flow events. Partly saturated debris flow tended to form steeper channel sections (22.2–37.3°), while fully saturated debris flow tended to form gentler channel sections ( < 22.2°). Such relationship between the flow type and the channel gradient could be explained by a simple analysis of the static force at the bottom of the sediment mass.

COMPARISON OF LOW COST PHOTOGRAMMETRIC SURVEY WITH TLS AND LEICA PEGASUS BACKPACK 3D MODELSS

Abstract. This paper considers Leica backpack and photogrammetric surveys of a mediaeval bastion in Padua, Italy. Furhtermore, terrestrial laser scanning (TLS) survey is considered in order to provide a state of the art reconstruction of the bastion. Despite control points are typically used to avoid deformations in photogrammetric surveys and ensure correct scaling of the reconstruction, in this paper a different approach is considered: this work is part of a project aiming at the development of a system exploiting ultra-wide band (UWB) devices to provide correct scaling of the reconstruction. In particular, low cost Pozyx UWB devices are used to estimate camera positions during image acquisitions. Then, in order to obtain a metric reconstruction, scale factor in the photogrammetric survey is estimated by comparing camera positions obtained from UWB measurements with those obtained from photogrammetric reconstruction. Compared with the TLS survey, the considered photogrammetric model of the bastion results in a RMSE of 21.9cm, average error 13.4cm, and standard deviation 13.5cm. Excluding the final part of the bastion left wing, where the presence of several poles make reconstruction more difficult, (RMSE) fitting error is 17.3cm, average error 11.5cm, and standard deviation 9.5cm. Instead, comparison of Leica backpack and TLS surveys leads to an average error of 4.7cm and standard deviation 0.6cm (4.2cm and 0.3cm, respectively, by excluding the final part of the left wing).