Artículos de revistas: "Laser scanner mobile"

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Mezian, c., Bruno Vallet, Bahman Soheilian y Nicolas Paparoditis. "UNCERTAINTY PROPAGATION FOR TERRESTRIAL MOBILE LASER SCANNER". ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B3 (9 de junio de 2016): 331–35. http://dx.doi.org/10.5194/isprs-archives-xli-b3-331-2016.

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Laser scanners are used more and more in mobile mapping systems. They provide 3D point clouds that are used for object reconstruction and registration of the system. For both of those applications, uncertainty analysis of 3D points is of great interest but rarely investigated in the literature. In this paper we present a complete pipeline that takes into account all the sources of uncertainties and allows to compute a covariance matrix per 3D point. The sources of uncertainties are laser scanner, calibration of the scanner in relation to the vehicle and direct georeferencing system. We suppose that all the uncertainties follow the Gaussian law. The variances of the laser scanner measurements (two angles and one distance) are usually evaluated by the constructors. This is also the case for integrated direct georeferencing devices. Residuals of the calibration process were used to estimate the covariance matrix of the 6D transformation between scanner laser and the vehicle system. Knowing the variances of all sources of uncertainties, we applied uncertainty propagation technique to compute the variance-covariance matrix of every obtained 3D point. Such an uncertainty analysis enables to estimate the impact of different laser scanners and georeferencing devices on the quality of obtained 3D points. The obtained uncertainty values were illustrated using error ellipsoids on different datasets.

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2

Mezian, c., Bruno Vallet, Bahman Soheilian y Nicolas Paparoditis. "UNCERTAINTY PROPAGATION FOR TERRESTRIAL MOBILE LASER SCANNER". ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B3 (9 de junio de 2016): 331–35. http://dx.doi.org/10.5194/isprsarchives-xli-b3-331-2016.

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Laser scanners are used more and more in mobile mapping systems. They provide 3D point clouds that are used for object reconstruction and registration of the system. For both of those applications, uncertainty analysis of 3D points is of great interest but rarely investigated in the literature. In this paper we present a complete pipeline that takes into account all the sources of uncertainties and allows to compute a covariance matrix per 3D point. The sources of uncertainties are laser scanner, calibration of the scanner in relation to the vehicle and direct georeferencing system. We suppose that all the uncertainties follow the Gaussian law. The variances of the laser scanner measurements (two angles and one distance) are usually evaluated by the constructors. This is also the case for integrated direct georeferencing devices. Residuals of the calibration process were used to estimate the covariance matrix of the 6D transformation between scanner laser and the vehicle system. Knowing the variances of all sources of uncertainties, we applied uncertainty propagation technique to compute the variance-covariance matrix of every obtained 3D point. Such an uncertainty analysis enables to estimate the impact of different laser scanners and georeferencing devices on the quality of obtained 3D points. The obtained uncertainty values were illustrated using error ellipsoids on different datasets.

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3

Jing, H., N. Slatcher, X. Meng y G. Hunter. "MONITORING CAPABILITIES OF A MOBILE MAPPING SYSTEM BASED ON NAVIGATION QUALITIES". ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B1 (6 de junio de 2016): 625–31. http://dx.doi.org/10.5194/isprs-archives-xli-b1-625-2016.

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Mobile mapping systems are becoming increasingly popular as they can build 3D models of the environment rapidly by using a laser scanner that is integrated with a navigation system. 3D mobile mapping has been widely used for applications such as 3D city modelling and mapping of the scanned environments. However, accurate mapping relies on not only the scanner’s performance but also on the quality of the navigation results (accuracy and robustness) . This paper discusses the potentials of using 3D mobile mapping systems for landscape change detection, that is traditionally carried out by terrestrial laser scanners that can be accurately geo-referenced at a static location to produce highly accurate dense point clouds. Yet compared to conventional surveying using terrestrial laser scanners, several advantages of mobile mapping systems can be identified. A large area can be monitored in a relatively short period, which enables high repeat frequency monitoring without having to set-up dedicated stations. However, current mobile mapping applications are limited by the quality of navigation results, especially in different environments. The change detection ability of mobile mapping systems is therefore significantly affected by the quality of the navigation results. This paper presents some data collected for the purpose of monitoring from a mobile platform. The datasets are analysed to address current potentials and difficulties. The change detection results are also presented based on the collected dataset. Results indicate the potentials of change detection using a mobile mapping system and suggestions to enhance quality and robustness.

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Jing, H., N. Slatcher, X. Meng y G. Hunter. "MONITORING CAPABILITIES OF A MOBILE MAPPING SYSTEM BASED ON NAVIGATION QUALITIES". ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B1 (6 de junio de 2016): 625–31. http://dx.doi.org/10.5194/isprsarchives-xli-b1-625-2016.

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Mobile mapping systems are becoming increasingly popular as they can build 3D models of the environment rapidly by using a laser scanner that is integrated with a navigation system. 3D mobile mapping has been widely used for applications such as 3D city modelling and mapping of the scanned environments. However, accurate mapping relies on not only the scanner’s performance but also on the quality of the navigation results (accuracy and robustness) . This paper discusses the potentials of using 3D mobile mapping systems for landscape change detection, that is traditionally carried out by terrestrial laser scanners that can be accurately geo-referenced at a static location to produce highly accurate dense point clouds. Yet compared to conventional surveying using terrestrial laser scanners, several advantages of mobile mapping systems can be identified. A large area can be monitored in a relatively short period, which enables high repeat frequency monitoring without having to set-up dedicated stations. However, current mobile mapping applications are limited by the quality of navigation results, especially in different environments. The change detection ability of mobile mapping systems is therefore significantly affected by the quality of the navigation results. This paper presents some data collected for the purpose of monitoring from a mobile platform. The datasets are analysed to address current potentials and difficulties. The change detection results are also presented based on the collected dataset. Results indicate the potentials of change detection using a mobile mapping system and suggestions to enhance quality and robustness.

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5

Kaijaluoto, R. y A. Hyyppä. "PRECISE INDOOR LOCALIZATION FOR MOBILE LASER SCANNER". ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XL-4/W5 (11 de mayo de 2015): 1–6. http://dx.doi.org/10.5194/isprsarchives-xl-4-w5-1-2015.

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Accurate 3D data is of high importance for indoor modeling for various applications in construction, engineering and cultural heritage documentation. For the lack of GNSS signals hampers use of kinematic platforms indoors, TLS is currently the most accurate and precise method for collecting such a data. Due to its static single view point data collection, excessive time and data redundancy are needed for integrity and coverage of data. However, localization methods with affordable scanners are used for solving mobile platform pose problem. The aim of this study was to investigate what level of trajectory accuracies can be achieved with high quality sensors and freely available state of the art planar SLAM algorithms, and how well this trajectory translates to a point cloud collected with a secondary scanner. In this study high precision laser scanners were used with a novel way to combine the strengths of two SLAM algorithms into functional method for precise localization. We collected five datasets using Slammer platform with two laser scanners, and processed them with altogether 20 different parameter sets. The results were validated against TLS reference. The results show increasing scan frequency improves the trajectory, reaching 20 mm RMSE levels for the best performing parameter sets. Further analysis of the 3D point cloud showed good agreement with TLS reference with 17 mm positional RMSE. With precision scanners the obtained point cloud allows for high level of detail data for indoor modeling with accuracies close to TLS at best with vastly improved data collection efficiency.

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Rahok, Sam Ann, Hirohisa Oneda, Akio Tanaka y Koichi Ozaki. "A Robust NavigationMethod for Mobile Robots in Real-World Environments". Journal of Robotics and Mechatronics 26, n.º 2 (20 de abril de 2014): 177–84. http://dx.doi.org/10.20965/jrm.2014.p0177.

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This paper describes a robust navigation method for real-world environments. The method uses a 3-axis magnetic sensor and a laser range scanner. The magnetic field that occurs in the environment is used as key landmarks in the proposed navigation method, and physical landmarks scanned by the laser range scanner are taken into account in compensating for the mobile robot’s lateral error. An evaluation experiment was conducted during the final run of the Real World Robot Challenge (RWRC) 2013, and the result showed that the mobile robot equipped with the proposed method robustly navigated a 1.6 km course.

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Nikoohemat, S., M. Peter, S. Oude Elberink y G. Vosselman. "EXPLOITING INDOOR MOBILE LASER SCANNER TRAJECTORIES FOR SEMANTIC INTERPRETATION OF POINT CLOUDS". ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences IV-2/W4 (14 de septiembre de 2017): 355–62. http://dx.doi.org/10.5194/isprs-annals-iv-2-w4-355-2017.

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The use of Indoor Mobile Laser Scanners (IMLS) for data collection in indoor environments has been increasing in the recent years. These systems, unlike Terrestrial Laser Scanners (TLS), collect data along a trajectory instead of at discrete scanner positions. In this research, we propose several methods to exploit the trajectories of IMLS systems for the interpretation of point clouds. By means of occlusion reasoning and use of trajectory as a set of scanner positions, we are capable of detecting openings in cluttered indoor environments. In order to provide information about both the partitioning of the space and the navigable space, we use the voxel concept for point clouds. Furthermore, to reconstruct walls, floor and ceiling we exploit the indoor topology and plane primitives. The results show that the trajectory is a valuable source of data for feature detection and understanding of indoor MLS point clouds.

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Bouziani, M., F. Boucht y F. Nouri. "CONTRIBUTION OF BATHYMETRIC MULTI-BEAM SONAR AND LASER SCANNERS IN 3D MODELING AND ESTIMATION OF SILTATION OF DAM BASIN IN MOROCCO". International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLVI-4/W4-2021 (7 de octubre de 2021): 5–9. http://dx.doi.org/10.5194/isprs-archives-xlvi-4-w4-2021-5-2021.

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Abstract. In Morocco, the phenomenon of silting affects all the dams, where more than 75 Mm3 of sediments are deposited every year at the bottom of the reservoirs. The aim of our study is to assess the contribution of the bathymetric multi-beam sonar as well as static and mobile laser scanners in the estimation of siltation of the basin of the Tanger-Med dam in the north of Morocco. The proposed methodology consists of performing and fusion of a bathymetric survey by multi-beam echo-sounder with terrestrial laser scanner surveys in static mode and mobile mode. The result of these surveys is used, for the calculation of the siltation volume and the inspection of the upstream facing of the main structure. Siltation calculation was carried out with comparison to a reference survey obtained by single beam sonar. The comparison between these two instruments showed that the multi-beam presents many advantages: high density of the cloud of points acquired and precision. The density allows providing a better description of the dam's bottom. The comparative study between the two types of scanners showed that static scanner offers a better accuracy. However, mobile scanner gives more accessibility of all parts of the dam. As a conclusion, the multi-beam echo-sounder with additional laser scanner data have many advantages in this study: volume calculation precision, reduction of the acquisition time and the enhancement of the acquired point cloud density. We also obtained a global 3d modelling useful for the monitoring of the infrastructure.

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Heinz, Erik, Markus Mettenleiter, Heiner Kuhlmann y Christoph Holst. "Strategy for Determining the Stochastic Distance Characteristics of the 2D Laser Scanner Z + F Profiler 9012A with Special Focus on the Close Range". Sensors 18, n.º 7 (12 de julio de 2018): 2253. http://dx.doi.org/10.3390/s18072253.

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Kinematic laser scanning with moving platforms has been used for the acquisition of 3D point clouds of our environment for many years. A main application of these mobile systems is the acquisition of the infrastructure, e.g., the road surface and buildings. Regarding this, the distance between laser scanner and object is often notably shorter than 20 m. In the close range, however, divergent incident laser light can lead to a deterioration of the precision of laser scanner distance measurements. In the light of this, we analyze the distance precision of the 2D laser scanner Z + F Profiler 9012A, purpose-built for kinematic applications, in the range of up to 20 m. In accordance with previous studies, a clear dependency between scan rate, intensity of the backscattered laser light and distance precision is evident, which is used to derive intensity-based stochastic models for the sensor. For this purpose, a new approach for 2D laser scanners is proposed that is based on the static scanning of surfaces with different backscatter. The approach is beneficial because the 2D laser scanner is operated in its normal measurement mode, no sophisticated equipment is required and no model assumptions for the scanned surface are made. The analysis reveals a lower precision in the range below 5 m caused by a decreased intensity. However, the Z + F Profiler 9012A is equipped with a special hardware-based close range optimization partially compensating for this. Our investigations show that this optimization works best at a distance of about 2 m. Although increased noise remains a critical factor in the close range, the derived stochastic models are also valid below 5 m.

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Ishikawa, Kiichiro, Jun-ichi Takiguchi, Yoshiharu Amano, Takumi Hashizume y Takashi Fujishima. "Tunnel Cross-Section Measurement System Using a Mobile Mapping System". Journal of Robotics and Mechatronics 21, n.º 2 (20 de abril de 2009): 193–99. http://dx.doi.org/10.20965/jrm.2009.p0193.

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This paper describes a tunnel cross-section measurement system using a mobile mapping system (MMS). The MMS features a GPS/ Dead Reckoning (DR) combined navigation system, a three-axis GPS-Gyro/ Inertial Measurement Unit (IMU), laser scanners, cameras, and the Network-based Positioning Augmentation Services (PAS). As GPS cannot be used in the tunnel, so the position estimation is done using IMU and Odometer. In this paper the result of comparison between the conventional tunnel cross-section measurement methods using 3D laser scanner and total station, and the proposed method using the MMS is described. And the examination result of the MMS's positioning accuracy that doesn't use GPS is described. The evaluation result proves that the tunnel cross-section measurement accuracy using the MMS is 7.0 mm, the MMS's measurement accuracy is not different from conventional method using a 3D laser scanner and a total station. The MMS tunnel measurement efficiency is also confirmed in this paper.

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Gollob, Christoph, Tim Ritter y Arne Nothdurft. "Comparison of 3D Point Clouds Obtained by Terrestrial Laser Scanning and Personal Laser Scanning on Forest Inventory Sample Plots". Data 5, n.º 4 (31 de octubre de 2020): 103. http://dx.doi.org/10.3390/data5040103.

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In forest inventory, trees are usually measured using handheld instruments; among the most relevant are calipers, inclinometers, ultrasonic devices, and laser range finders. Traditional forest inventory has been redesigned since modern laser scanner technology became available. Laser scanners generate massive data in the form of 3D point clouds. We have developed a novel methodology to provide estimates of the tree positions, stem diameters, and tree heights from these 3D point clouds. This dataset was made publicly accessible to test new software routines for the automatic measurement of forest trees using laser scanner data. Benchmark studies with performance tests of different algorithms are welcome. The dataset contains co-registered raw 3D point-cloud data collected on 20 forest inventory sample plots in Austria. The data were collected by two different laser scanning systems: (1) A mobile personal laser scanner (PLS) (ZEB Horizon, GeoSLAM Ltd., Nottingham, UK) and (2) a static terrestrial laser scanner (TLS) (Focus3D X330, Faro Technologies Inc., Lake Mary, FL, USA). The data also contain digital terrain models (DTMs), field measurements as reference data (ground-truth), and the output of recent software routines for the automatic tree detection and the automatic stem diameter measurement.

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Masiero, A., G. Tucci y A. Vettore. "Tree Detection with a Mobile Laser Scanner". IOP Conference Series: Earth and Environmental Science 767, n.º 1 (1 de mayo de 2021): 012034. http://dx.doi.org/10.1088/1755-1315/767/1/012034.

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Cahalane, Conor, Paul Lewis, Conor McElhinney y Timothy McCarthy. "Optimising Mobile Mapping System Laser Scanner Orientation". ISPRS International Journal of Geo-Information 4, n.º 1 (23 de febrero de 2015): 302–19. http://dx.doi.org/10.3390/ijgi4010302.

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14

Singh, Ravinder y Kuldeep Singh Nagla. "Error analysis of laser scanner for robust autonomous navigation of mobile robot in diverse illumination environment". World Journal of Engineering 15, n.º 5 (1 de octubre de 2018): 626–32. http://dx.doi.org/10.1108/wje-08-2017-0228.

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Purpose Modern service robots are designed to work in a complex indoor environment, in which the robot has to interact with the objects in different ambient light intensities (day light, tube light, halogen light and dark ambiance). The variations in sudden ambient light intensities often cause an error in the sensory information of optical sensors like laser scanner, which reduce the reliability of the sensor in applications such as mapping, path planning and object detection of a mobile robot. Laser scanner is an optical sensor, so sensory information depends upon parameters like surface reflectivity, ambient light condition, texture of the targets, etc. The purposes of this research are to investigate and remove the effect of variation in ambient light conditions on the laser scanner to achieve robust autonomous mobile robot navigation. Design/methodology/approach The objective of this study is to analyze the effect of ambient light condition (dark ambiance, tube light and halogen bulb) on the accuracy of the laser scanner for the robust autonomous navigation of mobile robot in diverse illumination environments. A proposed AIFA (Adaptive Intensity Filter Algorithm) approach is designed in robot operating system (ROS) and implemented on a mobile robot fitted with laser scanner to reduce the effect of high-intensity ambiance illumination of the environment. Findings It has been experimentally found that the variation in the measured distance in dark is more consistent and accurate as compared to the sensory information taken in high-intensity tube light/halogen bulbs and in sunlight. The proposed AIFA approach is implement on a laser scanner fitted on a mobile robot which navigates in the high-intensity ambiance-illuminating complex environment. During autonomous navigation of mobile robot, while implementing the AIFA filter, the proportion of cession with the obstacles is reduce to 23 per cent lesser as compared to conventional approaches. Originality/value The proposed AIFA approach reduced the effect of the varying ambient light conditions in the sensory information of laser scanner for the applications such as autonomous navigation, path planning, mapping, etc. in diverse ambiance environment.

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Zhong, Mianqing, Lichun Sui, Zhihua Wang, Xiaomei Yang, Chuanshuai Zhang y Nan Chen. "Recovering Missing Trajectory Data for Mobile Laser Scanning Systems". Remote Sensing 12, n.º 6 (11 de marzo de 2020): 899. http://dx.doi.org/10.3390/rs12060899.

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Trajectory data are often used as important auxiliary information in preprocessing and extracting the target from mobile laser scanning data. However, the trajectory data stored independently may be lost and destroyed for various reasons, making the data unavailable for the relevant models. This study proposes recovering the trajectory of the scanner from point cloud data following the scanning principles of a rotating mirror. Two approaches are proposed from different input conditions: Ordered three-dimensional coordinates of point cloud data, with and without acquisition time. We recovered the scanner’s ground track through road point density analysis and restored the position of the center of emission of the laser based on plane reconstruction on a single scanning line. The validity and reliability of the proposed approaches were verified in the four typical urban, rural, winding, and viaduct road environments using two systems from different manufacturers. The result deviations of the ground track and scanner trajectory from their actual position were a few centimeters and less than 1 decimeter, respectively. Such an error is sufficiently small for the trajectory data to be used in the relevant algorithms.

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Lauterbach, H. A., D. Borrmann, A. Nüchter, A. P. Rossi, V. Unnithan, P. Torrese y R. Pozzobon. "MOBILE MAPPING OF THE LA CORONA LAVATUBE ON LANZAROTE". ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences IV-2/W5 (29 de mayo de 2019): 381–87. http://dx.doi.org/10.5194/isprs-annals-iv-2-w5-381-2019.

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Abstract. Planetary surfaces consist of rough terrain and cave-like environments. Future planetary exploration demands for accurate mapping. However, recent backpack mobile mapping systems are mostly tested in structured, indoor environments. This paper evaluates the use of a backpack mobile mapping system in a cave-like environment. The experiments demonstrate the abilities of an continuous-time optimization approach by mapping part of a lavatube of the La Corona volcano system on Lanzarote. We compare two strategies for trajectory estimation relying either on 2D or 3D laser scanners and show that a 3D laser scanner substantially improved the final results.

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MATSUSHIMA, Syushi, Michiya IRASAWA, Ching-Ying TSOU, Kazunori HAYASHI, Tatsuya OCHIAI y Taro SUZUKI. "Utilization of mobile laser scanner in surveying rockfalls". Journal of the Japan Landslide Society 59, n.º 3 (2022): 92–98. http://dx.doi.org/10.3313/jls.59.92.

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Lehtola, Ville V., Juho-Pekka Virtanen, Antero Kukko, Harri Kaartinen y Hannu Hyyppä. "Localization of mobile laser scanner using classical mechanics". ISPRS Journal of Photogrammetry and Remote Sensing 99 (enero de 2015): 25–29. http://dx.doi.org/10.1016/j.isprsjprs.2014.10.008.

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Nikoohemat, Shayan, Michael Peter, Sander Oude Elberink y George Vosselman. "Semantic Interpretation of Mobile Laser Scanner Point Clouds in Indoor Scenes Using Trajectories". Remote Sensing 10, n.º 11 (7 de noviembre de 2018): 1754. http://dx.doi.org/10.3390/rs10111754.

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The data acquisition with Indoor Mobile Laser Scanners (IMLS) is quick, low-cost and accurate for indoor 3D modeling. Besides a point cloud, an IMLS also provides the trajectory of the mobile scanner. We analyze this trajectory jointly with the point cloud to support the labeling of noisy, highly reflected and cluttered points in indoor scenes. An adjacency-graph-based method is presented for detecting and labeling of permanent structures, such as walls, floors, ceilings, and stairs. Through occlusion reasoning and the use of the trajectory as a set of scanner positions, gaps are discriminated from real openings in the data. Furthermore, a voxel-based method is applied for labeling of navigable space and separating them from obstacles. The results show that 80% of the doors and 85% of the rooms are correctly detected, and most of the walls and openings are reconstructed. The experimental outcomes indicate that the trajectory of MLS systems plays an essential role in the understanding of indoor scenes.

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Kucsera, Peter. "Indoor Mobile Robot Navigation and Obstacle Avoidance Using a 3D Camera and Laser Scanner". Academic and Applied Research in Military and Public Management Science 15, n.º 1 (30 de abril de 2016): 51–59. http://dx.doi.org/10.32565/aarms.2016.1.5.

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Thanks to the developing sensor technology in mobile robot navigation and obstacle avoidance there are new and affordable solutions which can be used to accomplish smooth, safe and reliable robot movement in an indoor environment. A laser scanner is a commonly used sensor for detecting obstacles as well as for navigation, but a laser scanner is unable to detect all the different obstacles and terrain features by itself. In this article complementary sensors are examined, on a real mobile robot platform. Communication between the sensors and the controller and the basic control possibilities are also discussed. Finally, an advertising mobile robot is described.

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Karp, F. H. S., A. F. Colaço, R. G. Trevisan y J. P. Molin. "Accuracy assessment of a mobile terrestrial laser scanner for tree crops". Advances in Animal Biosciences 8, n.º 2 (1 de junio de 2017): 178–82. http://dx.doi.org/10.1017/s2040470017000073.

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LiDAR technology is one option to collect spatial data about canopy geometry in many crops. However, the method of data acquisition includes many errors related to the LiDAR sensor, the GNSS receiver and the data acquisition set up. Therefore, the objective of this study was to evaluate the errors involved in the data acquisition from a mobile terrestrial laser scanner (MTLS). Regular shaped objects were scanned with a developed MTLS in two different tests: i) with the system mounted on a vehicle and ii) with the system mounted on a platform running over a rail. The errors of area estimation varied between 0.001 and 0.071 m2 for the circle, square and triangle objects. The errors on volume estimations were between 0.0003 and 0.0017 m3, for cylinders and truncated cone.

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Annok, Gerly, Valdar Tammin y Natalja Liba. "MOBILE LASER SCANNING ELEVATION DATA ACCURACY IN CLOSED AND PARTIALLY OPEN SKY AREA". Geodesy and cartography 47, n.º 1 (31 de marzo de 2021): 21–26. http://dx.doi.org/10.3846/gac.2021.12044.

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Mobile laser scanning is being used more often in Estonia and abroad to obtain geospatial information. As the system is still new and being upgraded, different methods are being used to find out how accurately the mobile laser scanner can measure in different conditions. In this article the mobile laser scanner accuracy is being examined depending on surrounding environment and the importance of postprocessing. Mobile laser scanning elevation data accuracy obtained in difficult conditions is being assessed. Difficult conditions are considered locations where there are tall objects that interrupt the satellite signals’ trajectory to the receiver. To determine the elevation accuracy of mobile laser scanner data, coordinates with the raw broadcast and final ephemerides with the combination of the GNSS receivers’ data that were installed in ideal and not ideal environmental conditions were computed. As a result of the study, the error of the elevation data in the first polygon, situated in difficult conditions was 7 mm when the Kunda reference station data was used with raw broadcast and final ephemerides. Error in the second polygon was accordingly 17 mm and 19 mm. When calculations were conducted using raw broadcast ephemerides in a base station in an imperfect environment, the error in the first polygon was 103 mm and in the second 75 mm. When the precise ephemerides were added to base station data, the error in the first polygon was 6 mm and in the second 21 mm. From the study results, it could be concluded that the mobile laser scanning system measures within 2 cm accuracy even in a complicated environment.

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Lehtola, Ville V., Juho-Pekka Virtanen, Matti T. Vaaja, Hannu Hyyppä y Andreas Nüchter. "Localization of a mobile laser scanner via dimensional reduction". ISPRS Journal of Photogrammetry and Remote Sensing 121 (noviembre de 2016): 48–59. http://dx.doi.org/10.1016/j.isprsjprs.2016.09.004.

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Elseicy, Ahmed, Shayan Nikoohemat, Michael Peter y Sander Oude Elberink. "Space Subdivision of Indoor Mobile Laser Scanning Data Based on the Scanner Trajectory". Remote Sensing 10, n.º 11 (15 de noviembre de 2018): 1815. http://dx.doi.org/10.3390/rs10111815.

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State-of-the-art indoor mobile laser scanners are now lightweight and portable enough to be carried by humans. They allow the user to map challenging environments such as multi-story buildings and staircases while continuously walking through the building. The trajectory of the laser scanner is usually discarded in the analysis, although it gives insight about indoor spaces and the topological relations between them. In this research, the trajectory is used in conjunction with the point cloud to subdivide the indoor space into stories, staircases, doorways, and rooms. Analyzing the scanner trajectory as a standalone dataset is used to identify the staircases and to separate the stories. Also, the doors that are traversed by the operator during the scanning are identified by processing only the interesting spots of the point cloud with the help of the trajectory. Semantic information like different space labels is assigned to the trajectory based on the detected doors. Finally, the point cloud is semantically enriched by transferring the labels from the annotated trajectory to the full point cloud. Four real-world datasets with a total of seven stories are used to evaluate the proposed methods. The evaluation items are the total number of correctly detected rooms, doors, and staircases.

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Eker, R., Z. Ucar y A. Aydın. "A PRIMARY TEST RESULTS OF A HANDHELD MOBILE LASER SCANNER IN EXTRACTION OF TREE PARAMETERS". International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B1-2022 (30 de mayo de 2022): 207–12. http://dx.doi.org/10.5194/isprs-archives-xliii-b1-2022-207-2022.

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Abstract. Sustainable forest planning and management require accurate and precise information about the estimation of forest resources. In particular, two tree parameters are very important among the others: diameter-at-breast height (DBH) and height that are used to estimate the volume and biomass of the tree. With the development of Remote Sensing (RS), information about the tree parameters can be acquired in more accurately and precisely with laser scanning technology. In this study, a Handheld Mobile Laser Scanner (HMLS), called TORCH, was tested for extracting tree parameters with 3D Forest software. The TORCH uses the SLAM (Simultaneous Localization and Mapping) algorithm to locate the scanner in an unknown environment and register the obtained 3D point clouds. Estimated DBH and height parameters from HMLS data extracted using 3D Forest software were compared with the field measurements (i.e., reference data). The preliminary results of the study showed that estimated DBH from HMLS data were relatively higher than ground measurement, while estimated height from point clouds data was slightly lower than the reference data. The continuous improvement in mobile laser scanners will improve the success of the devices while acquiring 3D structural information of tree parameters and reducing the cost and time spent in forest inventory.

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Lindner, Lars, Oleg Sergiyenko, Julio C. Rodríguez-Quiñonez, Moises Rivas-Lopez, Daniel Hernandez-Balbuena, Wendy Flores-Fuentes, Fabian Natanael Murrieta-Rico y Vera Tyrsa. "Mobile robot vision system using continuous laser scanning for industrial application". Industrial Robot: An International Journal 43, n.º 4 (20 de junio de 2016): 360–69. http://dx.doi.org/10.1108/ir-01-2016-0048.

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Purpose The purpose of this paper is the presentation and research of a novel robot vision system, which uses laser dynamic triangulation, to determine three-dimensional (3D) coordinates of an observed object. The previously used physical operation principle of discontinuous scanning method is substituted by continuous method. Thereby applications become possible that were previously limited by this discretization. Design/methodology/approach The previously used prototype No. 2, which uses stepping motors to realize a discontinuous laser scan, was substituted by the new developed prototype No. 3, which contains servomotors, to achieve a continuous laser scan. The new prototype possesses only half the width and turns out to be significantly smaller and therefore lighter than the old one. Furthermore, no transmissions are used, which reduce the systematic error of laser positioning and increase the system reliability. Findings By using a continuous laser scan method instead of discontinuous laser scan method, dead zones in the laser scanner field can be eliminated. Thereby, also by changing the physical operation principle, the implementation of applications is allowed, which previously was limited by the fixed step size or by the object distance under observation. By using servomotors instead of stepping motors, also a significant reduced positioning time can be accomplished maintaining the relative positioning error less than 1 per cent. Originality/value The originality is based on the substitution of the physical operation principle of discontinuous by continuous laser scan. The previously used stepping motors discretized the laser scanner field and thereby produced dead zones, where 3D coordinates cannot be detected. These stepping motors were substituted by servomotors to revoke these disadvantages and provide a continuous laser scan, where dead zones in the field of view get eliminated and the step response of the laser scanner accelerated.

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Tommaselli, A. M. G., M. V. A. Moraes, L. S. L. Silva, M. F. Rubio, G. J. Carvalho y J. T. G. Tommaselli. "Monitoring marginal erosion in hydroelectric reservoirs with terrestrial mobile laser scanner". ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XL-5 (6 de junio de 2014): 589–96. http://dx.doi.org/10.5194/isprsarchives-xl-5-589-2014.

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Marginal erosions in reservoirs of hydroelectric plants have caused economic and environmental problems concerning hydroelectric power generation, reduction of productive areas and devaluing land parcels. The real extension and dynamics of these erosion processes are not well known for Brazilian reservoirs. To objectively assess these problems Unesp (Univ Estadual Paulista) and Duke Energy are developing a joint project which aims at the monitoring the progression of some erosive processes and understanding the causes and the dynamics of this phenomenon. Mobile LASER scanning was considered the most suitable alternative for the challenges established in the project requirements. A MDL DynaScan Mobile LASER M150 scanner was selected which uses RTK for real time positioning integrated to an IMU, enabling instantaneous generation of georeferenced point clouds. Two different reservoirs were choose for monitoring: Chavantes (storage plant) and Rosana (run-of-river plant), both in the Paranapanema River, border of São Paulo and Paraná States, Brazil. The monitoring areas are scanned quarterly and analysed with base on the point cloud, meshes, contours and cross sections. Cross sections are used to visualize and compute the rate and the dynamics of erosion. Some examples and quantitative results are presented along with an analysis of the proposed technique. Some recommendations to improve the field work and latter data processing are also introduced.

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Mohammed, H., N. M. Alsubaie, M. Elhabiby y N. El-sheimy. "Registration of time of flight terrestrial laser scanner data for stop-and-go mode". ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XL-1 (7 de noviembre de 2014): 287–91. http://dx.doi.org/10.5194/isprsarchives-xl-1-287-2014.

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Terrestrial Laser Scanners (TLS) are utilized through different data acquisition techniques such as Mobile Laser Scanning (MLS) and the output can be used in different applications such as 3D city modelling, cultural heritage documentations, oil and Gas as built, etc... In this research paper, we will investigate one of the modes of TLS on mobile mapping platform. Namely the Stop-and-Go (SAG) mode. Unlike the continuous mode, the Stop-and-Go mode does not require the use of IMU to estimate the TLS attitude and thus inturn it has an overall reduction in the system cost. Moreover, it decreases the time required for data processing in comparison with the continuous mode. For successful use of SAG mobile mapping in urban areas, it is preferred to use a long range time of flight laser scanner to cover long distances in each scan and minimize the registration error. The problem arise with Long range laser scanners is their low point cloud density. The low point cloud density affects the registration accuracy specially in monitoring applications. The point spacing between points is one of the issues facing the registration especially when the matching points are chosen manually. Since most of TLS nowadays are equipped with camera on-board we can utilize the camera to get an initial estimate of the registration parameters based on image matching. After having an initial approximation of the registration parameters we feed those parameters to the Iterative Closest Point algorithm to obtain more accurate registration result.

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29

Yamamoto, K., T. Chen y N. Yabuki. "A CALIBRATION METHOD OF TWO MOBILE LASER SCANNING SYSTEM UNITS FOR RAILWAY MEASUREMENT". ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B1-2020 (6 de agosto de 2020): 277–83. http://dx.doi.org/10.5194/isprs-archives-xliii-b1-2020-277-2020.

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Abstract. This paper proposes a methodology to calibrate the laser scanner of a Mobile Laser Scanning System (MLS) with the trajectory of the other MLS, both of which are installed directly above the top of both rails. Railway vehicle laser scanners systems of MLS are able to obtain 3D scanning map of the rail environment. In order to adapt the actual site condition of the maintenance works, we propose a calibration method with non-linear Least Mean Square calculation which use point clouds around poles along rails and sleepers of rails as cylindrical and planner constraints. The accuracy of 0.006 m between two laser point clouds can be achieved with this method. With the common planar and cylinder condition Leven-Marquardt method has been applied for this method. This method can execute without a good initial value for the extrinsic parameter and can shorten the processing time compared with the linear type of Least Mean Square method.

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Al-Durgham, Kaleel, Derek D. Lichti, Eunju Kwak y Ryan Dixon. "Automated Accuracy Assessment of a Mobile Mapping System with Lightweight Laser Scanning and MEMS Sensors". Applied Sciences 11, n.º 3 (23 de enero de 2021): 1007. http://dx.doi.org/10.3390/app11031007.

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The accuracy assessment of mobile mapping system (MMS) outputs is usually reliant on manual labor to inspect the quality of a vast amount of collected geospatial data. This paper presents an automated framework for the accuracy assessment and quality inspection of point cloud data collected by MMSs operating with lightweight laser scanners and consumer-grade microelectromechanical systems (MEMS) sensors. A new, large-scale test facility has been established in a challenging navigation environment (downtown area) to support the analyses conducted in this research work. MMS point cloud data are divided into short time slices for comparison with the higher-accuracy, terrestrial laser scanner (TLS) point cloud of the test facility. MMS data quality is quantified by the results of registering the point cloud of each slice with the TLS datasets. Experiments on multiple land vehicle MMS point cloud datasets using a lightweight laser scanner and three different MEMS devices are presented to demonstrate the effectiveness of the proposed method. The mean accuracy of a consumer grade MEMS (<$100) was found to be 1.13 ± 0.47 m. The mean accuracy of two commercial MEMS (>$100) was in the range of 0.48 ± 0.23 m to 0.85 ± 0.52 m. The method presented here in can be straightforwardly implemented and adopted for the accuracy assessment of other MMSs types such as unmanned aerial vehicles (UAV)s.

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Yagishita, D. y H. Chikatsu. "Generation of effective orthophotos for road surfaces using MMS". ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XL-5 (6 de junio de 2014): 621–28. http://dx.doi.org/10.5194/isprsarchives-xl-5-621-2014.

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In recent years, high precision and high resolution road surface orthophotos have been generated using video cameras mounted on surveying vehicles. However, there is a serious issue in generating an orthophoto from this image. The shadows of the surrounding structures and vehicles on the road surface cause a lack of information and decrease in visibility. Therefore, the shadows should be removed from the images for exact road management. On the other hand, the Mobile Mapping System with a laser scanner mounted on vehicles has been receiving more attention because the laser scanner intensity is almost unaffected by shadows. This paper presents shadow extraction and shadow correction for generating road surface orthophotos using the laser scanner intensity.

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Castanheiro, L. F., A. M. G. Tommaselli, M. V. Machado, G. H. Santos, I. S. Norberto y T. T. Reis. "THE USE OF A WIDE FOV LASER SCANNING SYSTEM AND A SLAM ALGORITHM FOR MOBILE APPLICATIONS". International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B1-2022 (30 de mayo de 2022): 181–87. http://dx.doi.org/10.5194/isprs-archives-xliii-b1-2022-181-2022.

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Abstract. This paper presents the assessment of a wide-angle laser scanner and a simultaneous localisation and mapping (SLAM) algorithm to estimate the trajectory and generate a 3D map of the environment. A backpack platform composed of an OS0-128 Ouster (FoV 90° × 360°) laser scanner was used to acquire laser data in an area with urban and forest features. Web SLAM, an online SLAM algorithm implemented by Ouster, Inc., was used to estimate the trajectory and generate a 3D map in a local reference system. Then, the 3D point clouds were transformed into the ground coordinate system with a rigid body transformation. Three datasets were used: (I) the entire trajectory consisting of forwarding and backwards paths, (II) only forward path, and (III) only backward path. Visual analysis showed a double mapping error in the point cloud of dataset I. Therefore, the point cloud registration was performed only for datasets II and III, achieving a centimetric accuracy, which is compatible with the OS0-128 laser scanner accuracy (∼5cm).

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Fritsche, Paul y Bernardo Wagner. "Evaluation of a Novel Radar Based Scanning Method". Journal of Sensors 2016 (2016): 1–10. http://dx.doi.org/10.1155/2016/6952075.

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The following paper introduces a novel scanning method for mapping and localization purposes in mobile robotics. Our method is based on a rotating monostatic radar network, which determines the positions of objects around the scanner via a continuously running lateration algorithm. The estimation of surfaces with ultrawideband radar networks has been studied experimentally in lab environments, especially with lateration, envelopes of spheres, and SEABED algorithms. But we do not see a link to the field of mapping and localization of mobile robots, where laser scanners are dominating. Indeed, only few research groups use radars for mapping and localization, but their applied sensor principle is based on a rotating focused radar beam. Consequently, only 2D radar scanners are known inside the robotic world and methods for 3D scanning with radars need to be investigated. This paper will derive the theoretical background of the sensor principle, which is based on a radar network on a rotating joint, and discuss its erroneous influences. We were performing first scans of standard geometries and deriving a model in order to compare theoretical and experimental measurement results. Furthermore, we present first mapping approaches and a simulation of a scanner with multiple sensors.

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Ghorbani, Fariborz, Hamid Ebadi, Norbert Pfeifer y Amin Sedaghat. "Uniform and Competency-Based 3D Keypoint Detection for Coarse Registration of Point Clouds with Homogeneous Structure". Remote Sensing 14, n.º 16 (21 de agosto de 2022): 4099. http://dx.doi.org/10.3390/rs14164099.

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Recent advances in 3D laser scanner technology have provided a large amount of accurate geo-information as point clouds. The methods of machine vision and photogrammetry are used in various applications such as medicine, environmental studies, and cultural heritage. Aerial laser scanners (ALS), terrestrial laser scanners (TLS), mobile mapping laser scanners (MLS), and photogrammetric cameras via image matching are the most important tools for producing point clouds. In most applications, the process of point cloud registration is considered to be a fundamental issue. Due to the high volume of initial point cloud data, 3D keypoint detection has been introduced as an important step in the registration of point clouds. In this step, the initial volume of point clouds is converted into a set of candidate points with high information content. Many methods for 3D keypoint detection have been proposed in machine vision, and most of them were based on thresholding the saliency of points, but less attention had been paid to the spatial distribution and number of extracted points. This poses a challenge in the registration process when dealing with point clouds with a homogeneous structure. As keypoints are selected in areas of structural complexity, it leads to an unbalanced distribution of keypoints and a lower registration quality. This research presents an automated approach for 3D keypoint detection to control the quality, spatial distribution, and the number of keypoints. The proposed method generates a quality criterion by combining 3D local shape features, 3D local self-similarity, and the histogram of normal orientation and provides a competency index. In addition, the Octree structure is applied to control the spatial distribution of the detected 3D keypoints. The proposed method was evaluated for the keypoint-based coarse registration of aerial laser scanner and terrestrial laser scanner data, having both cluttered and homogeneous regions. The obtained results demonstrate the proper performance of the proposed method in the registration of these types of data, and in comparison to the standard algorithms, the registration error was diminished by up to 56%.

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Oude Elberink, S., K. Khoshelham, M. Arastounia y D. Diaz Benito. "Rail Track Detection and Modelling in Mobile Laser Scanner Data". ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences II-5/W2 (16 de octubre de 2013): 223–28. http://dx.doi.org/10.5194/isprsannals-ii-5-w2-223-2013.

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36

Gonzalez-Barbosa, Jose-Joel, Karen Lizbeth Flores-Rodrıguez, Francisco Javier Ornelas-Rodrıguez, Felipe Trujillo-Romero, Erick Alejandro Gonzalez-Barbosa y Juan B. Hurtado-Ramos. "Using mobile laser scanner and imagery for urban management applications". IAES International Journal of Robotics and Automation (IJRA) 11, n.º 2 (1 de junio de 2022): 89. http://dx.doi.org/10.11591/ijra.v11i2.pp89-110.

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Despite autonomous navigation is one of the most proliferate applications of three-dimensional (3D) point clouds and imagery both techniques can potentially have many other applications. This work explores urban digitization tools applied to 3D geometry to perform urban tasks. We focus exclusively on compiling scientific research that merges mobile laser scanning (MLS) and imagery from vision systems. The major contribution of this review is to show the evolution of MLS combined with imagery in urban applications. We review systems used by public and private organizations to handle urban tasks such as historic preservation, roadside assistance, road infrastructure inventory, and public space study. The work pinpoints the potential and accuracy of data acquisition systems to handled both 3D point clouds and imagery data. We highlight potential future work regarding the detection of urban environment elements and to solve urban problems. This article concludes by discussing the major constraints and struggles of current systems that use MLS combined with imagery to perform urban tasks and to solve urban tasks.

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Song, Hongxia, Jixian Zhang, Jianzhang Zuo, Xinlian Liang, Wenli Han y Juan Ge. "Subsidence Detection for Urban Roads Using Mobile Laser Scanner Data". Remote Sensing 14, n.º 9 (7 de mayo de 2022): 2240. http://dx.doi.org/10.3390/rs14092240.

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Pavement subsidence detection based on point cloud data acquired by mobile measurement systems is very challenging. First, the uncertainty and disorderly nature of object points data results in difficulties in point cloud comparison. Second, acquiring data with kinematic laser scanners introduces errors into systems during data acquisition, resulting in a reduction in data accuracy. Third, the high-precision measurement standard of pavement subsidence raises requirements for data processing. In this article, a data processing method is proposed to detect the subcentimeter-level subsidence of urban pavements using point cloud data comparisons in multiple time phases. The method mainly includes the following steps: First, the original data preprocessing is conducted, which includes point cloud matching and pavement point segmentation. Second, the interpolation of the pavement points into a regular grid is performed to solve the problem of point cloud comparison. Third, according to the high density of the pavement points and the performance of the pavement in the rough point cloud, using a Gaussian kernel convolution to smooth the pavement point cloud data, we aim to reduce the error in comparison. Finally, we determine the subsidence area by calculating the height difference and compare it with the threshold value. The experimental results show that the smoothing process can substantially improve the accuracy of the point cloud comparison results, effectively reducing the false detection rate and showing that subcentimeter-level pavement subsidence can be effectively detected.

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HAYASHIDA, Kazuki, Jaehoon LEE y Shingo OKAMOTO. "907 Mapping by a mobile robot with a Laser Scanner". Proceedings of Conference of Chugoku-Shikoku Branch 2012.50 (2012): 90701–2. http://dx.doi.org/10.1299/jsmecs.2012.50.90701.

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Kim, Joo-Wan y Duk-Sun Shim. "Two Feature Points Based Laser Scanner for Mobile Robot Navigation". Journal of Korea Navigation Institute 18, n.º 2 (30 de abril de 2014): 134–41. http://dx.doi.org/10.12673/jant.2014.18.2.134.

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Aslan, Gökhan, Erhan Ilhan Konukseven y Buğra Koku. "Design and Implementation of a 3D Range Scanner for Mobile Robots". Key Engineering Materials 572 (septiembre de 2013): 644–47. http://dx.doi.org/10.4028/www.scientific.net/kem.572.644.

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In an efficient autonomous navigation and exploration, the robots should sense the environment as exactly as possible in real-time and act correctly on the basis of the acquired 3D data. Laser scanners have been used for the last 30 years for mobile robot navigation. However, they often did not enough speed, accuracy and field of view. In this paper we present the design and implementation of a scanning platform, which can be used for both outdoor and indoor mobile robot navigation and mapping. A 3D scanning platform based on a 2D laser rangefinder was designed in compact way for fast and accurate mapping with maximum field of view. The range finder is rotated around the vertical axis to extract the 3D indoor information. However, the scanner is designed to be placed in any direction on a mobile robot. The designed mechanism provides 360º degree horizontal by 240º degree vertical field of view. The maximum resolution is 0.36º degrees in elevation and variable in azimuth (0.1 degrees if scanning platform is set to complete a 360º degree rotation in 3.6 seconds). The proposed low cost compact design is tested by scanning a physical environment with known dimensions to show that it can be used as a precise and reliable high quality 3D sensor for autonomous mobile robots.

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41

Maset, Eleonora, Lorenzo Scalera, Alberto Beinat, Domenico Visintini y Alessandro Gasparetto. "Performance Investigation and Repeatability Assessment of a Mobile Robotic System for 3D Mapping". Robotics 11, n.º 3 (20 de abril de 2022): 54. http://dx.doi.org/10.3390/robotics11030054.

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In this paper, we present a quantitative performance investigation and repeatability assessment of a mobile robotic system for 3D mapping. With the aim of a more efficient and automatic data acquisition process with respect to well-established manual topographic operations, a 3D laser scanner coupled with an inertial measurement unit is installed on a mobile platform and used to perform a high-resolution mapping of the surrounding environment. Point clouds obtained with the use of a mobile robot are compared with those acquired with the device carried manually as well as with a terrestrial laser scanner survey that serves as a ground truth. Experimental results show that both mapping modes provide similar accuracy and repeatability, whereas the robotic system compares favorably with respect to the handheld modality in terms of noise level and point distribution. The outcomes demonstrate the feasibility of the mobile robotic platform as a promising technology for automatic and accurate 3D mapping.

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42

Budzan, Sebastian, Roman Wyżgolik y Witold Ilewicz. "Improved Human Detection with a Fusion of Laser Scanner and Vision/Infrared Information for Mobile Applications". Applied Sciences 8, n.º 10 (18 de octubre de 2018): 1967. http://dx.doi.org/10.3390/app8101967.

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This paper presents a method for human detection using a laser scanner with vision or infrared images. Mobile applications require reliable and efficient methods for human detection, especially as a part of driver assistance systems, including pedestrian collision systems. The authors propose an efficient method for multimodal human detection based on a combination of the features and context information. Strictly, the human is detected in the vision/infrared images using a combination of local binary patterns and histogram of oriented gradients features with a neural network in a cascade manner. Next, using coordinates of detected humans from the vision system, the moving trajectory is predicted until the scanner working distance is reached by the individual human. Then the segmentation of data from the laser scanner is further carried out with respect to the predicted trajectory. Finally, human detection in the laser scanner working distance is performed based on modelling of the human legs. The modelling is based on the adaptive breakpoint detection algorithm and proposed improved polylines definition and fitting algorithm. The authors conducted a set of experiments in predefined scenarios, discussed the identified weakness and advantages of the proposed method, and outlined detailed future work, especially for night-time and low-light conditions.

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Delasse, Chaimaa, Hamza Lafkiri, Rafika Hajji, Ishraq Rached y Tania Landes. "Indoor 3D Reconstruction of Buildings via Azure Kinect RGB-D Camera". Sensors 22, n.º 23 (27 de noviembre de 2022): 9222. http://dx.doi.org/10.3390/s22239222.

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With the development of 3D vision techniques, RGB-D cameras are increasingly used to allow easier and cheaper access to the third dimension. In this paper, we focus on testing the potential of the Kinect Azure RGB-D camera in the 3D reconstruction of indoor scenes. First, a series of investigations of the hardware was performed to evaluate its accuracy and precision. The results show that the measurements made with the Azure could be exploited for close-range survey applications. Second, we performed a methodological workflow for indoor reconstruction based on the Open3D framework, which was applied to two different indoor scenes. Based on the results, we can state that the quality of 3D reconstruction significantly depends on the architecture of the captured scene. This was supported by a comparison of the point cloud from the Kinect Azure with that from a terrestrial laser scanner and another from a mobile laser scanner. The results show that the average differences do not exceed 8 mm, which confirms that the Kinect Azure can be considered a 3D measurement system at least as reliable as a mobile laser scanner.

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44

Miled, Mourad, Bahman Soheilian, Emmanuel Habets y Bruno Vallet. "HYBRID ONLINE MOBILE LASER SCANNER CALIBRATION THROUGH IMAGE ALIGNMENT BY MUTUAL INFORMATION". ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences III-1 (1 de junio de 2016): 25–31. http://dx.doi.org/10.5194/isprsannals-iii-1-25-2016.

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This paper proposes an hybrid online calibration method for a laser scanner mounted on a mobile platform also equipped with an imaging system. The method relies on finding the calibration parameters that best align the acquired points cloud to the images. The quality of this intermodal alignment is measured by Mutual information between image luminance and points reflectance. The main advantage and motivation is ensuring pixel accurate alignment of images and point clouds acquired simultaneously, but it is also much more flexible than traditional laser calibration methods.

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45

Miled, Mourad, Bahman Soheilian, Emmanuel Habets y Bruno Vallet. "HYBRID ONLINE MOBILE LASER SCANNER CALIBRATION THROUGH IMAGE ALIGNMENT BY MUTUAL INFORMATION". ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences III-1 (1 de junio de 2016): 25–31. http://dx.doi.org/10.5194/isprs-annals-iii-1-25-2016.

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This paper proposes an hybrid online calibration method for a laser scanner mounted on a mobile platform also equipped with an imaging system. The method relies on finding the calibration parameters that best align the acquired points cloud to the images. The quality of this intermodal alignment is measured by Mutual information between image luminance and points reflectance. The main advantage and motivation is ensuring pixel accurate alignment of images and point clouds acquired simultaneously, but it is also much more flexible than traditional laser calibration methods.

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46

Sun, Yi Bo, Xin Qi Zheng, Zong Ren Jia y Gang Ai. "Design of Light-Small Mobile 3D Laser Measurement System". Applied Mechanics and Materials 405-408 (septiembre de 2013): 3032–36. http://dx.doi.org/10.4028/www.scientific.net/amm.405-408.3032.

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At present, most of the commercial 3D laser scanning measurement systems do work for a large area and a big scene, but few shows their advantage in the small area or small scene. In order to solve this shortage, we design a light-small mobile 3D laser scanning system, which integrates GPS, INS, laser scanner and digital camera and other sensors, to generate the Point Cloud data of the target through data filtering and fusion. This system can be mounted on airborne or terrestrial small mobile platform and enables to achieve the goal of getting Point Cloud data rapidly and reconstructing the real 3D model. Compared to the existing mobile 3D laser scanning system, the system we designed has high precision but lower cost, smaller hardware and more flexible.

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47

Kaasalainen, S., H. Kaartinen, A. Kukko, K. Anttila y A. Krooks. "Brief communication "Application of mobile laser scanning in snow cover profiling"". Cryosphere Discussions 4, n.º 4 (30 de noviembre de 2010): 2513–22. http://dx.doi.org/10.5194/tcd-4-2513-2010.

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Abstract. We present a snowmobile based mobile mapping system and its first application on snow cover roughness and change detection measurement. The ROAMER mobile mapping system, constructed at the Finnish Geodetic Institute, consists of the positioning and navigating systems, a terrestrial laser scanner, and the carrying platform (a snowmobile sledge in this application). We demonstrate the applicability of the instrument in snow cover roughness profiling and change detection by presenting preliminary results from a mobile laser scanning (MLS) campaign. The results show the potential of MLS for fast and efficient snow profiling from large areas in a millimetre scale.

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Kaasalainen, S., H. Kaartinen, A. Kukko, K. Anttila y A. Krooks. "Brief communication "Application of mobile laser scanning in snow cover profiling"". Cryosphere 5, n.º 1 (1 de marzo de 2011): 135–38. http://dx.doi.org/10.5194/tc-5-135-2011.

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Abstract. We present a snowmobile-based mobile mapping system and its first application to snow cover roughness and change detection measurement. The ROAMER mobile mapping system, constructed at the Finnish Geodetic Institute, consists of the positioning and navigating systems, a terrestrial laser scanner, and the carrying platform (a snowmobile sledge in this application). We demonstrate the applicability of the instrument to snow cover roughness profiling and change detection by presenting preliminary results from a mobile laser scanning (MLS) campaign. The results show the potential of MLS for fast and efficient snow profiling from large areas in a millimetre scale.

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Sjöqvist, A. S. L., M. Arthursson, A. Lundström, E. Calderón Estrada, A. Inerfeldt y H. Lorenz. "An innovative optical and chemical drill core scanner". Scientific Drilling 19 (29 de mayo de 2015): 13–16. http://dx.doi.org/10.5194/sd-19-13-2015.

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Abstract. We describe a new innovative drill core scanner that semi-automatedly analyses drill cores directly in drill core trays with X-ray fluorescence spectrometry, without the need for much sample preparation or operator intervention. The instrument is fed with entire core trays, which are photographed at high resolution and scanned by a 3-D profiling laser. Algorithms recognise the geometry of the core tray, number of slots, location of the drill cores, calculate the optimal scanning path, and execute a continuous XRF analysis of 2 cm width along the core. The instrument is equipped with critical analytical components that allow an effective QA/QC routine to be implemented. It is a mobile instrument that can be manoeuvred by a single person with a manual pallet jack.

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del-Campo-Sanchez, Ana, Miguel Moreno, Rocio Ballesteros y David Hernandez-Lopez. "Geometric Characterization of Vines from 3D Point Clouds Obtained with Laser Scanner Systems". Remote Sensing 11, n.º 20 (12 de octubre de 2019): 2365. http://dx.doi.org/10.3390/rs11202365.

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The 3D digital characterization of vegetation is a growing practice in the agronomy sector. Precision agriculture is sustained, among other methods, by variables that remote sensing techniques can digitize. At present, laser scanners make it possible to digitize three-dimensional crop geometry in the form of point clouds. In this work, we developed several methods for calculating the volume of vine wood, with the final intention of using these values as indicators of vegetative vigor on a thematic map. For this, we used a static terrestrial laser scanner (TLS), a mobile scanning system (MMS), and six algorithms that were implemented and adapted to the data captured and to the proposed objective. The results show that, with TLS equipment and the algorithm called convex hull cluster, the volumes of a vine trunk can be obtained with a relative error lower than 7%. Although the accuracy and detail of the cloud obtained with TLS are very high, the cost per unit for the scanned area limits the application of this system for large areas. In contrast to the inoperability of the TLS in large areas of terrain, the MMS and the algorithm based on the L1-medial skeleton and the modelling of cylinders of a certain height and diameter have solved the estimation of volumes with a relative error better than 3%. To conclude, the vigor map elaborated represents the estimated volume of each vine by this method.

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