Terrestrial Laser Scanning Point Cloud Data Research Articles

Heritage Building Information Modelling (HBIM): A Review of Published Case Studies

Abstract. This paper presents a systematic review of published case studies on Heritage Building Information Modelling (HBIM) since 2018, and identifies research gaps in the subject matter. Building upon the foundational work of Ewart and Zuecco (2019), this research aims to reveal the latest trends in HBIM implementation, identify recent developments of HBIM technologies, changes in the purpose of HBIM programs and stakeholder roles and responsibilities, and uncover knowledge gaps that provide avenues for future research. Utilizing the Preferred Reporting Items for Systematic Review and Meta-Analysis (PRISMA) approach, two major academic databases, Scopus and Web of Science (WOS), were searched, resulting in a rich and diverse dataset for analysis. The paper reports findings on the status of reality capture techniques used to acquire data for HBIM development, focusing on terrestrial laser scanning (TLS) technology. The review highlights the benefits and limitations of TLS for data acquisition in HBIM, as well as the integration of TLS with other reality capture technologies, such as Structure from Motion (SfM) and photogrammetry. The paper further outlines the typical workflow for processing TLS scan data and explores the integration of multiple point clouds for comprehensive heritage site modeling. In addition to the state of the art, this systematic review also uncovers several research gaps in the field of HBIM that offer opportunities for future research and innovation, including the lack of guidelines for data acquisition in HBIM programs, the predominantly manual development process of HBIM from TLS point cloud data, and the under-utilized capacity of TLS for long-term monitoring and change detection. This comprehensive review provides valuable insights into the current landscape of HBIM, offering guidance for future research and development in the heritage sector and highlighting areas in need of further investigation to advance the field.

3D modeling and volume measurement of bulk grains stored in large warehouses using bi-temporal multi-site terrestrial laser scanning data

Terrestrial laser scanning (TLS) is a promising technology for quantity checking huge grain stocks with low cost, light workload and high efficiency. Existing applications of TLS in bulk grain measurement and quantification lack the ability to capture complete structural information of grain bulks and thus will result in large errors. In this paper, we propose a bi-temporal TLS scheme for fast 3D modeling and accurate volume measurement of bulk grains stored in large warehouses. The scheme uses bi-temporal multi-site TLS datasets acquired under both empty and full or high loading conditions to obtain complete surface information about grain bulk’s structure. In order for a grain bulk’s all external surfaces and the 3D volumetric model reconstructed therefrom to be automatically derived from the bi-temporal TLS dataset, several dedicated methods are developed for the scheme. A fully automated marker-free strategy exploring structurally semantic information inherent in the large grain storehouses is adopted to register multi-scan TLS point cloud data captured in large-scale granary scenes. Also, a local minima-based region growing technique is devised to extract underlying surfaces from a granary scene point cloud model. Experiments show that the proposed 3D modeling and volume measurement scheme can work effectively and quickly in TLS-based granary field applications and repeated test data demonstrate its correctness, repeatability and accuracy. Compared with the conventional manual measurement approach, the bi-temporal TLS scheme can not only achieve much higher measurement precision, but also greatly improve efficiency by significantly reducing cost, workload, and manpower. It has good potential for use in the area of nation-wide grain inventory inspection in China.

Estimation of plant's morphological parameters using terrestrial laser scanning-based three-dimensional point cloud data

The yield of crop is very important for sustainable agriculture to meet continuously growing demand of food. The morphological parameters, such as plant height (PH), projected leaf area (PLA), and plant volume (PV) are important metrics to estimate crop yield. In this paper, a multi-step methodology is proposed to estimate parameters PH, PLA and PLA using state-of-the-art three-dimensional (3D) mapping technique: terrestrial laser scanning (TLS). The proposed methodology consists of three well-designed steps: pre-processing, ground filtering and clustering, and estimation of plant's morphological parameters. In pre-processing TLS-derived laser scans acquired from multiple scan stations to cover the selected agricultural test site registered and coordinate transformation is performed to convert the TLS point cloud into total station (TS)-based locally defined coordinate system. The second step transformed point cloud data is processed to generate ground and non-ground points, where subsequently Euclidean clustering is employed to generate clusters of non-ground points. The clustered data is cleaned based on geometrical constraints and cabbage plant's clusters are extracted, which are processed using height-based analysis and convex hull algorithm to estimate PH, PLA and PLA of each cluster. The proposed methodology performance was evaluated using TLS point cloud data of selected agricultural field of cabbage plants, and PH, PLA and PLA estimation was performed at RMSE of 0.005 m, 0.012 m2 and 0.0063 m3 respectively. The proposed methodology is efficient and easy to implement step-wise approach from data collection to processing for plant's geometrical analysis, thus it has potential to be used as one of the industrial tools for precision agriculture.

Combination of Terrestrial Laser Scanning and Unmanned Aerial Vehicle Photogrammetry for Heritage Building Information Modeling: A Case Study of Tarsus St. Paul Church

Cultural heritage building information modeling (HBIM) is an emerging process allowing us to reconstruct built heritage virtually. The data of a digitally documented cultural heritage building offers significant advantages as it is accessible and modifiable by all professionals involved in the same or different projects. The most important factor affecting the accuracy and precision of the HBIM model is the ability to collect complete and accurate information about the physical structure. Combining terrestrial laser scanning (TLS) and unmanned aerial vehicle (UAV) photogrammetry point clouds is one of the most efficient ways to capture accurate digital data on the building. This study provides the foundation for creating an HBIM model for cultural heritage the coupling of spatial data with TLS and UAV. This paper aims to generate synergy between TLS and UAV point cloud data and ensure that the spatial database contains sufficient data to model historical objects with HBIM tendencies.

Improving Estimation of Tree Parameters by Fusing ALS and TLS Point Cloud Data Based on Canopy Gap Shape Feature Points

Airborne laser scanning (ALS) and terrestrial laser scanning (TLS) are two ways to obtain forest three-dimensional (3D) spatial information. Due to canopy occlusion and the features of different scanning methods, some of the forest point clouds acquired by a single scanning platform may be missing, resulting in an inaccurate estimation of forest structure parameters. Hence, the registration of ALS and TLS point clouds is an alternative for improving the estimation accuracy of forest structure parameters. Currently, forest point cloud registration is mainly conducted based on individual tree attributes (e.g., location, diameter at breast height, and tree height), but the registration is affected by individual tree segmentation and is inefficient. In this study, we proposed a method to automatically fuse ALS and TLS point clouds by using feature points of canopy gap shapes. First, the ALS and TLS canopy gap boundary vectors were extracted by the canopy point cloud density model, and the turning or feature points were obtained from the canopy gap vectors using the weighted effective area (WEA) algorithm. The feature points were then aligned, the transformation parameters were solved using the coherent point drift (CPD) algorithm, and the TLS point clouds were further aligned using the recovery transformation matrix and refined by utilizing the iterative closest point (ICP) algorithm. Finally, individual tree segmentations were performed to estimate tree parameters using the TLS and fusion point clouds, respectively. The results show that the proposed method achieved more accurate registration of ALS and TLS point clouds in four plots, with the average distance residuals of coarse and fine registration of 194.83 cm and 2.14 cm being much smaller compared with those from the widely used crown feature point-based method. Using the fused point cloud data led to more accurate estimates of tree height than using the TLS point cloud data alone. Thus, the proposed method has the potential to improve the registration of ALS and TLS point cloud data and the accuracy of tree height estimation.

Estimating Carbon Stocks and Biomass Expansion Factors of Urban Greening Trees Using Terrestrial Laser Scanning

Urban forest carbon sequestration represents an important component of the global forest carbon pool; however, accurate measurements are limited by the inability of existing field stand models to match the specificity of urban greening species. Herein, canopy volume, carbon stock, and the biomass expansion factor (BEF) of 30 Koelreuteria paniculate trees were measured based on terrestrial laser scanning (TLS) and compared to the results of existing wood volume and carbon stock model measurements. The findings revealed that (1) TLS point cloud data were highly reproducible and accurate (root mean square error of tree height and diameter at breast height were ±0.35 m and ±0.33 cm, respectively). (2) Owing to human interference and cluttered urban environments, the BEF of urban greening tree species fluctuated irregularly, considerably different from that of natural forest stands. (3) Leaf carbon stocks were influenced by the size of the voxel. (4) Different tree measurement factors maintained variable degrees of influence on BEF (height under branch, volume of thick branch, crown width, and projected areas of tree-crown produced correlation coefficients of −0.64, 0.54, 0.45, and 0.43, respectively). Accordingly, the carbon stock and BEF of urban greening tree species can be accurately calculated via TLS without damage.

An improved space colonization algorithm with DBSCAN clustering for a single tree skeleton extraction

ABSTRACT The tree skeleton is a powerful tool for reasoning about the structure of forest, because of its ability to describe the topology and geometry of a tree in a simple and compact form. Terrestrial Laser Scanning (TLS) is one of the modern precision mapping techniques, it can provide high-precision point cloud data for digitization studies of forests. Accurate extraction of the stem and branch skeleton from TLS data is of great importance for studying the morphological structure and 3D visualization of trees. Although good progress has been made in the study of extracting the skeleton of 3D trees, there are still some problems, such as difficult to implement calculations on a large number of point clouds. Considering these problems, in this paper, cherry and begonia trees in a plot at Baima campus of Nanjing Forestry University are selected as the research object, and the space colonization algorithm is directly applied to the TLS point cloud data, but we find that the space colonization method would lead to over-extension of the skeletal trunk of the trees. Therefore, improvements are made on the basis of the original algorithm. Pre-processing the point cloud data with noise filtering and identifying the number of bifurcations using the DBSCAN clustering in advance makes the experimental results clearer visually. We select trees of different shapes within the plots for skeleton extraction and parameter validation was performed to illustrate the effectiveness of the improved method. The proposed method extracts the skeleton in the point cloud of 100 reference trees. The comparative measurement experiments with real values were performed, the root mean square error (RMSE) for the branch angle, trunk length and branch length were 3.309 degree, 0.069 m, 0.051 m respectively. These results demonstrate that the proposed method can accurately extract the skeleton points of a single tree.

COMBINATION OF TLS AND SLAM LIDAR FOR LEVEE MONITORING

Abstract. Monitoring of engineering structures is important for ensuring safety of operation. Traditional surveying methods have proven to be reliable; however, the advent of new point cloud technologies such as terrestrial laser scanning (TLS) and small unmanned aerial systems (sUAS) have provided an unprecedented wealth of data. Furthermore, simultaneous localization and mapping (SLAM) is now able to facilitate the collection of registered point clouds on the fly. SLAM is most successful when applied to indoor environments where the algorithm can identify primitives (points, planes, lines) for registration, but it can be problematic in outdoor settings where there is absence of constructed features. This work includes the collection of SLAM-based LiDAR data along a levee for the purpose of inspection and monitoring. Due to the outdoor setting and absence of man-made features, the resulting point cloud was considerably distorted due to erroneous drift in sensor orientation. A correction algorithm is proposed that relies on reference TLS point cloud data to remove drift distortions identified in the SLAM LiDAR. Results indicate an alignment between the corrected SLAM LiDAR and TLS data of around ±10cm, which is sufficient for general inspection and multi-epoch monitoring of levees. The algorithm is based on common points identified in the TLS and SLAM data and necessitates that the SLAM LiDAR is collected in individual, one-way lines to allow correction of distortions as a function of distance from the starting point. This approach increases the efficiency of LiDAR-based levee monitoring by reducing the time required to survey the levees.

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.

Tree stem extraction from TLS point-cloud data of natural forests based on geometric features and DBSCAN

Conventional methods for tree stem extraction from point-cloud data of natural forests suffer from problems of low accuracy and poor universality. In this article, an enhanced method is proposed for tree stem extraction from point-cloud data collected by terrestrial laser scanning (TLS). First, principal component analysis is used to calculate the eigenvalues and eigenvectors of the point-cloud data, and an information entropy criterion is minimized in order to achieve the best neighbourhood scale selection. Then, three-dimensional spatial geometric forest features are combined with the Z-axis component of the normal vector. These geometric features are used for rough extraction of tree stem points, while a large number of non-stem points is filtered out by thresholding. Finally, the DBSCAN algorithm is used to achieve accurate extraction of tree stem points. The proposed method for tree stem detection and extraction is experimentally evaluated in the case of two representative natural forest plots of Pinus densata Mast. and Picea asperata Mast. in the Shangri-La City in China. All stem points in these two plots were detected and extracted with a reference method to create a ground-truth dataset. Correlation analysis was carried out between the stem points extracted by the proposed and reference methods for the two plots. This analysis resulted in an R2 value of 0.990 for the Pinus densata Mast. sample plot, and an R2 value of 0.982 for the Picea asperata Mast. sample plot which has a more complex growth environment.

A novel and efficient method for wood–leaf separation from terrestrial laser scanning point clouds at the forest plot level

Abstract With the increasing use of terrestrial laser scanning (TLS) technology in the field of forest ecology, a large number of studies have been carried out on the separation of wood and leaves based on TLS point cloud data. However, most wood–leaf separation methods adopt the point‐wise classification strategy, which is not efficient for processing large‐volume TLS datasets acquired at the forest plot level. In this study, we proposed a segment‐wise classification strategy to improve the efficiency of the wood–leaf separation from large‐volume TLS point cloud datasets collected at the forest plot. The proposed method first decomposes the point cloud into three parts based on the threshold values of its local curvature. Then, the first two parts with lower local curvatures were segmented respectively by a connected component labelling algorithm. Finally, the segmented point clouds were classified into wood or leaf segments according to the segment‐wise geometric features of each segment. We tested our method on both needleleaf and broadleaf forest plots in temperate and tropical forests. We also compared our method with two other state‐of‐the‐art wood–leaf separation methods, that is, the CANUPO and LeWoS. The results showed that our method was more than 10 times faster than the compared methods while maintaining comparable and even higher accuracy. Our study demonstrates that the segment‐wise classification strategy applies to the large‐volume TLS datasets and can greatly improve the efficiency of the classification. The proposed method is simple, fast and universally applicable to the TLS data from various tree species and forest types at the plot level, which may facilitate the adoption of TLS technology by forest ecologists in their studies.

An integrated observation dataset of the hydrological and thermal deformation in permafrost slopes and engineering infrastructure in the Qinghai–Tibet Engineering Corridor

Abstract. Across the Qinghai–Tibet Plateau (QTP) there is a narrow engineering corridor with widely distributed slopes called the Qinghai–Tibet Engineering Corridor (QTEC), where a variety of important infrastructures are concentrated. These facilities are transportation routes for people, materials, energy, etc. from inland China to the Tibet Autonomous Region. From Golmud to Lhasa, the engineering corridor covers 632 km of permafrost containing the densely developed Qinghai–Tibet Railway and Qinghai–Tibet Highway, as well as power and communication towers. Slope failure in permafrost regions, caused by permafrost degradation, ground ice melting, etc., affects the engineering construction and permafrost environments in the QTEC. We implement a variety of sensors to monitor the hydrological and thermal deformation between permafrost slopes and permafrost engineering projects in the corridor. In addition to soil temperature and moisture sensors, the global navigation satellite system (GNSS), terrestrial laser scanning (TLS), and unmanned aerial vehicles (UAVs) were adopted to monitor the spatial distribution and changes in thermal deformation. An integrated dataset of hydrological and thermal deformation in permafrost engineering and slopes in the QTEC from the 1950s to 2020, including meteorological and ground observations, TLS point cloud data, and RGB and thermal infrared (TIR) images, can be of great value for estimating the hydrological and thermal impact and stability between engineering and slopes under the influence of climate change and engineering disturbance. The dataset and code were uploaded to the Zenodo repository and can be accessed through https://zenodo.org/communities/qtec (last access: 23 June 2021), including meteorological and ground observations at https://doi.org/10.5281/zenodo.5009871 (Luo et al., 2020d), TLS measurements at https://doi.org/10.5281/zenodo.5009558 (Luo et al., 2020a), UAV RGB and TIR images at https://doi.org/10.5281/zenodo.5016192 (Luo et al., 2020b), and R code for permafrost indices and visualisation at https://doi.org/10.5281/zenodo.5002981 (Luo et al., 2020c).

A Monitoring Method Integrating Terrestrial Laser Scanning and Unmanned Aerial Vehicles for Different Landslide Deformation Patterns

The three-dimensional deformation monitoring of landslides is very complex due to the uncertainty of movement direction and the difficulty in searching the corresponding points before and after deformation. In this study, a landslide deformation monitoring method based on the integration of terrestrial laser scanning (TLS) and unmanned aerial vehicles (UAVs) is presented. This method can quickly obtain high-precision and large-scale terrain information in the absence of sufficient ground control points (GCPs) and can accurately describe the real movement of landslides. The real-time kinematic (RTK) and post-processed kinematic (PPK) are applied to localize the initial positions of TLS and UAV, respectively. The iterative closest point algorithm is applied to register the TLS and UAV point cloud data. Then, the RTK-based GCPs and TLS-based GCPs are obtained to improve the accuracy of UAV data. After that, 3D deformation analyses based on shortest distance method and horizontal deformation based on the difference of orthophotos are applied through point clouds and orthophotos. The proposed method is demonstrated by monitoring a reactivated ancient landslide (Aniangzhai) in Danba County, Southwest China. The real deformation of the landslide has been validated with the registered TLS data. The results indicate that the downcutting of the riverbed and erosion to the slope toe caused by the dam break flood are the main reasons for the reactivation.

Robust Markerless Registration of Point Clouds for Terrestrial Laser Scanning-Based Measurement of Bulk Grains Stockpiled in Storehouses

HighlightsFully automated registration free from artificial markers for multi-scan point clouds aimed for TLS-based measurement of bulk grains in large storehouses.The geometric structure of the large grain storehouse is explored to derive geometrical features as the structurally semantic information for scene understanding.The geometrical features are modeled as a small ordered set and correspondences are established by performing trials for all possible matching pairs of two sets extracted from two different scans.Significant improvements have been achieved in registration accuracy, computational efficiency, and robustness against scenes with symmetric structures as well as the immunity to noises and varying point density.Abstract. Point clouds collected by terrestrial laser scanning (TLS) in the application of bulk grain measurement and quantification contain a vast amount of data, relatively low-textured surfaces and highly symmetric structures. All of these challenges make it a difficult task to automatically register multiple scans from different viewpoints needed to fully cover a large-scale scene. To address the challenges, this article presents a robust automatic marker-free registration method dedicated for multi-scan TLS point cloud data captured in large grain storehouses. The framework of the dedicated method follows the common procedure to split the entire registration into coarse alignment and fine registration, and uses the iterative closest point (ICP) algorithm for the latter. The main contribution of the proposed dedicated method is an efficient way to find a global coarse alignment that is robust across individual scans in a TLS-based bulk grain measurement project. To tackle the correspondence problem, which is at the core of a registration task, the geometric information inherent in grain storehouses is explored in the stage of global coarse alignment. The derived semantic feature points are modeled as a small ordered set and reliable correspondences are established by performing trials for all possible matching pairs of two sets extracted from two different scans. Experimental results show the dedicated method outperforms the existing generic markless registration approaches in terms of accuracy, robustness and computational efficiency. With robustness, efficiency and accuracy, the proposed markless point cloud registration method dedicated for bulk grain measurement can cover a gap between the TLS technology and various granary field applications. Especially, its applicability to the dominant storage structure in Chinese huge grain reserve system implies remarkable efficiency improvements and will facilitate the application of TLS-based measurement in the national grain inventory of China. Keywords: Bulk grain measurement, Feature extraction, Grain storehouse, Markerless registration, Point cloud, Terrestrial laser scanning.

From Point Cloud Data to Building Information Modelling: An Automatic Parametric Workflow for Heritage

Building Information Modelling (BIM) is a globally adapted methodology by government organisations and builders who conceive the integration of the organisation, planning, development and the digital construction model into a single project. In the case of a heritage building, the Historic Building Information Modelling (HBIM) approach is able to cover the comprehensive restoration of the building. In contrast to BIM applied to new buildings, HBIM can address different models which represent either periods of historical interpretation, restoration phases or records of heritage assets over time. Great efforts are currently being made to automatically reconstitute the geometry of cultural heritage elements from data acquisition techniques such as Terrestrial Laser Scanning (TLS) or Structure From Motion (SfM) into BIM (Scan-to-BIM). Hence, this work advances on the parametric modelling from remote sensing point cloud data, which is carried out under the Rhino+Grasshopper-ArchiCAD combination. This workflow enables the automatic conversion of TLS and SFM point cloud data into textured 3D meshes and thus BIM objects to be included in the HBIM project. The accuracy assessment of this workflow yields a standard deviation value of 68.28 pixels, which is lower than other author’s precision but suffices for the automatic HBIM of the case study in this research.

Unsupervised Clustering of Multi-Perspective 3D Point Cloud Data in Marshes: A Case Study

Dense three-dimensional (3D) point cloud data sets generated by Terrestrial Laser Scanning (TLS) and Unmanned Aircraft System based Structure-from-Motion (UAS-SfM) photogrammetry have different characteristics and provide different representations of the underlying land cover. While there are differences, a common challenge associated with these technologies is how to best take advantage of these large data sets, often several hundred million points, to efficiently extract relevant information. Given their size and complexity, the data sets cannot be efficiently and consistently separated into homogeneous features without the use of automated segmentation algorithms. This research aims to evaluate the performance and generalizability of an unsupervised clustering method, originally developed for segmentation of TLS point cloud data in marshes, by extending it to UAS-SfM point clouds. The combination of two sets of features are extracted from both datasets: “core” features that can be extracted from any 3D point cloud and “sensor specific” features unique to the imaging modality. Comparisons of segmented results based on producer’s and user’s accuracies allow for identifying the advantages and limitations of each dataset and determining the generalization of the clustering method. The producer’s accuracies suggest that UAS-SfM (94.7%) better represents tidal flats, while TLS (99.5%) is slightly more suitable for vegetated areas. The users’ accuracies suggest that UAS-SfM outperforms TLS in vegetated areas with 98.6% of those points identified as vegetation actually falling in vegetated areas whereas TLS outperforms UAS-SfM in tidal flat areas with 99.2% user accuracy. Results demonstrate that the clustering method initially developed for TLS point cloud data transfers well to UAS-SfM point cloud data to enable consistent and accurate segmentation of marsh land cover via an unsupervised method.

Examining Changes in Stem Taper and Volume Growth with Two-Date 3D Point Clouds

Exact knowledge over tree growth is valuable information for decision makers when considering the purposes of sustainable forest management and planning or optimizing the use of timber, for example. Terrestrial laser scanning (TLS) can be used for measuring tree and forest attributes in very high detail. The study aims at characterizing changes in individual tree attributes (e.g., stem volume growth and taper) during a nine year-long study period in boreal forest conditions. TLS-based three-dimensional (3D) point cloud data were used for identifying and quantifying these changes. The results showed that observing changes in stem volume was possible from TLS point cloud data collected at two different time points. The average volume growth of sample trees was 0.226 m3 during the study period, and the mean relative change in stem volume was 65.0%. In addition, the results of a pairwise Student’s t-test gave strong support (p-value 0.0001) that the used method was able to detect tree growth within the nine-year period between 2008–2017. The findings of this study allow the further development of enhanced methods for TLS-based single tree and forest growth modeling and estimation, which can thus improve the accuracy of forest inventories and offer better tools for future decision-making processes.

Automated detection and measurement of individual sorghum panicles using density-based clustering of terrestrial lidar data

Plant breeders normally require an assessment of various plant traits to breed new crop varieties or improve processes in crop production. This assessment, generally referred to as plant phenotyping, often involves significant manual measurement, which creates a bottleneck in breeding programs. Using current high-density terrestrial laser scanning systems presents an opportunity to measure individual plants and organ-specific traits to support various crop improvement and agronomic initiatives. The main goal of this study was to assess the feasibility of applying terrestrial laser scanning (TLS) data for estimating counts and individual dimensions (panicle length, width, and height) of sorghum panicles – the flowering parts of sorghum plants that eventually yield seed when the plants mature. To achieve our goal, we developed and assessed a density-based clustering approach to derive the targeted information from TLS data. Estimated individual panicle data (panicle counts and individual panicle dimensions) from a random sample of 20 plots were compared with LiDAR-derived panicle data. Overall, panicles were detected (counted) with an overall accuracy of 89.3% with a 10.7% omission and 14.3% commission rate. Omission errors were caused mainly by poor point cloud sampling, while commission errors were driven by spectral similarities between panicle and other crop components such as dry foliage. Estimated panicle dimensions were highly correlated with reference LiDAR-derived panicle measurements (Panicle length: Pearson correlation (r) = 0.88, Root mean square error (RMSE) = 3.10 cm; panicle width: r = 0.79, RMSE = 1.67 cm; plant height: r = 1.00, RMSE = 0.80 cm). A plot-level comparison involving 43 plots was also carried out between estimated panicle data and panicle data derived from a sample of harvested panicles and showed moderate to high correlations between the two datasets (Panicle length: r = 0.79, RMSE = 2.48 cm; panicle width: r = 0.63, RMSE = 1.49 cm; plant height: r = 0.86, RMSE = 11.4 cm). The lower correlations with field data may be reflective of the impact of sampling rates, the compaction and dry down of panicles after harvest and experimental error in general. An analysis of the impact of simulated noise on estimates, showed that the developed method is moderately robust to lower noise levels (<30%) but its performance deteriorates at high levels showing the critical need for prior noise filtering. Overall, this study shows that TLS and similar point cloud data has the potential to expedite field-based plant phenotyping tasks.

EVALUATING THE PERFORMANCE OF TERRESTRIAL LASER SCANNING FOR LANDSLIDE MONITORING

Abstract. Nowadays, Terrestrial Laser Scanning (TLS) technology is gaining popularity in monitoring and predicting the movement of landslide due to the capability of high-speed data capture without requiring a direct contact with the monitored surface. It offers very high density of point cloud data in high resolution and also can be an effective tool in detecting the surface movement of the landslide area. The aim of this research is to determine the optimal level of scanning resolution for landslide monitoring using TLS. The Topcon Geodetic Laser Scanner (GLS) 2000 was used in this research to obtain the three dimensional (3D) point cloud data of the landslide area. Four types of resolution were used during scanning operation which were consist of very high, high, medium and low resolutions. After done with the data collection, the point clouds datasets were undergone the process of registration and filtering using ScanMaster software. After that, the registered point clouds datasets were analyzed using CloudCompare software. Based on the results obtained, the accuracy of TLS point cloud data between picking point manually and computed automatically by ScanMaster software shows the maximum Root Mean Square (RMS) value of coordinate differences were 0.013 m in very high resolution, 0.017 m in high resolution, 0.031 m in medium resolution and 0.052 m in low resolution respectively. Meanwhile, the accuracy of TLS point cloud data between picking point manually and total station data using intersection method shows the maximum RMS values of coordinate differences were 0.013 m in very high resolution, 0.018 m in high resolution, 0.033 m in medium resolution and 0.054 m in low resolution respectively. Hence, it can be concluded that the high or very high resolution is needed for landslide monitoring using Topcon GLS-2000 which can provide more accurate data in slope result, while the low and medium resolutions is not suitable for landslide monitoring due to the accuracy of TLS point cloud data that will decreased when the resolution value is increased.

3D COMPARISON TOWARDS A COMPREHENSIVE ANALYSIS OF A BUILDING IN CULTURAL HERITAGE

Abstract. Terrestrial remote sensing techniques, including both Terrestrial Laser Scanning (TLS) and Close-Range Photogrammetry (CRP), have been recently used in multiple applications and projects with particular reference to the documentation/inspection of a wide variety of Cultural Heritage structures. The high density of TLS point cloud data allows to perform structure survey in an unprecedented level of detail, providing a direct solution for the digital three-dimensional modelling, the site restoration and the analysis of the structural conditions. Textural information provided by CRP can be used for the photorealistic representation of the surveyed structure. With respect to many studies, the combination of TLS and CRP techniques produces the best results for Cultural Heritage documentation purposes. Moreover, TLS and CRP point cloud data have been proved to be useful in the field of deformation analysis and structural health monitoring. They can be the input data for the Finite Element Method (FEM), providing some prior knowledge concerning the material and the boundary conditions such as constraints and loading. The paper investigates the capabilities and advantages of TLS and CRP data integration for the three-dimensional modelling compared to a simplified geometric reconstruction. This work presents some results concerning the Baptistery of Aquileia in Italy, characterized by an octagonal plan and walls composed by masonry stones with good texture.