Intercomparison among six terrestrial laser scanner systems focused on the measurement of small elements (< 0.5 m) is performed. Phase shift (PS) and time of flight (ToF) scanners are considered. Two standard artefacts containing threedimensional printing spheres and steps of variable height are used for the experiment. Results show errors between -4.5 and 3.5 mm in the measurement of distances between step planes. The most stable systems for measuring small elements seem the Leica C10, Faro Photon and Riegl LMS Z390i. The quality of the results is linked to the overall quality of the system rather than the specific technology used for range measurement (PS or ToF) which does not appear to be a determining factor.

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Bricks are the vital component of most masonry structures. Their maintenance is critical to the protection of masonry buildings. Terrestrial Light Detection and Ranging (TLidar) systems provide massive point cloud data in an accurate and fast way. TLidar enables us to sample and store the state of a brick surface in a practical way. This article aims to extract individual bricks from an unorganized pile of bricks sampled by a dense point cloud. The method automatically segments and models the individual bricks. The methodology is divided into five main steps: Filter needless points, brick boundary points removal, coarse segmentation using 3D component analysis, planar segmentation and grouping, and brick reconstruction. A novel voting scheme is used to segment the planar patches in an effective way. Brick reconstruction is based on the geometry of single brick and its corresponding nominal size (length, width and height). The number of bricks reconstructed is around 75%. An accuracy assessment is performed by comparing 3D coordinates of the reconstructed vertices to the manually picked vertices. The standard deviations of differences along x, y and z axes are 4.55 mm, 4.53 mm and 4.60 mm, respectively. The comparison results indicate that the accuracy of reconstruction based on the introduced methodology is high and reliable. The work presented in this paper provides a theoretical basis and reference for large scene applications in brick-like structures. Meanwhile, the high-accuracy brick reconstruction lays the foundation for further brick displacement estimation.

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The use of a terrestrial laser scanner is examined to measure the changes of rock slopes subject to a wave attack test. Real scenarios are simulated in a water flume facility using a wave attack experiment representing a storm of 3000 waves. The stability of two rock slopes of different steepness was evaluated under the set conditions. For quantification of the changes of the slopes after the wave attack test, terrestrial laser scanning was used to acquire dense 3D point cloud data sampling for slope geometries before and after the wave attack experiment. After registration of the two scans, representing situations before and after the wave attack, the cloud-to-cloud distance was determined to identify areas in the slopes that were affected. Then, a range image technique was introduced to generate a raster image to facilitate a change analysis. Using these raster images, volume change was estimated as well. The results indicate that the area around the artificial coast line is most strongly affected by wave attacks. Another interesting phenomenon considers the change in transport direction of the rocks between the two slopes: from seaward transport for the steeper slope to landward transport for the milder slope. Using the range image technique, the work in this article shows that terrestrial laser scanning is an effective and feasible method for change analysis of long and narrow rock slopes.@en

For better understanding how coastal structures with gentle slopes behave during high energy events, a wave attack experiment representing a storm of 3000 waves was performed in a flume facility. Two setups with different steepness of slope were compared under the same conditions. In order to quantify changes in the rock slopes after the wave attack, a terrestrial laser scanner was used to obtain 3D coordinates of the rock surface before and after each experiment. Next, through a series of processing steps, the point clouds were converted to a suitable 2D raster for change analysis. This allowed to estimate detailed and quantitative change information. The results indicate that the area around the artificial coast line, defined as the intersection between sloped surface and wave surface, is most strongly affected by wave attacks. As the distances from the sloped surface to the waves are shorter, changes for the mildly sloped surface, slope 1 (1: 10), are distributed over a larger area compared to the changes for the more steeply sloped surface, slope 2 (1: 5). The results of this experiment show that terrestrial laser scanning is an effective and feasible method for change analysis of rock slopes in a laboratory setting. Most striking results from a process point of view is that the transport direction of the rocks change between the two different slopes: from seaward transport for the steeper slope to landward transport for the milder slope.@en

Deformation measurements are repeatable. Therefore, they are often performed with the same equipment, methods, and geometric conditions in different epochs. However, although the measuring environment might be the same in different epochs, it sometimes changes significantly. Of all environmental parameters (atmospheric pressure, temperature, etc.), the atmospheric refraction coefficient is the most significant. Because it is unstable and changeable, measurement accuracy is affected. To solve this issue, an inversion method of the atmospheric refraction coefficient based on a trigonometric leveling network is proposed. This method is based on a mathematical model of the atmospheric refraction coefficient with weighted values, which are determined according to the difference between direct and reversed elevations. Therefore, the weighted average height of the closure errors of all triangles are considered. By iterative calculation, the atmospheric refraction coefficient is estimated. The estimated atmospheric refraction coefficient is applied successfully to the adjustment and analysis of the external control network of a dam. In this aspect, one does not need to solve the atmospheric refraction coefficient for each station and edge. Moreover, one of the most suitable atmospheric refraction coefficients for the whole trigonometric leveling network can be provided from the relevant conditions. The approach provides the advantages of flexibility and practicality, effectively weakening the influence of the atmospheric refraction coefficient on measurement accuracy in the trigonometric leveling network. Furthermore, it provides a theoretical basis for further engineering applications.@en

A method is introduced for detecting changes from point clouds that avoids registration. For many applications, changes are detected between two scans of the same scene obtained at different times. Traditionally, these scans are aligned to a common coordinate system having the disadvantage that this registration step introduces additional errors. In addition, registration requires stable targets or features. To avoid these issues, we propose a change detection method based on so-called baselines. Baselines connect feature points within one scan. To analyze changes, baselines connecting corresponding points in two scans are compared. As feature points either targets or virtual points corresponding to some reconstructable feature in the scene are used. The new method is implemented on two scans sampling a masonry laboratory building before and after seismic testing, that resulted in damages in the order of several centimeters. The centres of the bricks of the laboratory building are automatically extracted to serve as virtual points. Baselines connecting virtual points and/or target points are extracted and compared with respect to a suitable structural coordinate system. Changes detected from the baseline analysis are compared to a traditional cloud to cloud change analysis demonstrating the potential of the new method for structural analysis.

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We present a comparison of point cloud generation and quality of data acquired by Zebedee (Zeb1) and Leica C10 devices which are used in the same building interior. Both sensor devices come with different practical and technical advantages. As it could be expected, these advantages come with some drawbacks. Therefore, depending on the requirements of the project, it is important to have a vision about what to expect from different sensors. In this paper, we provide a detailed analysis of the point clouds of the same room interior acquired from Zeb1 and Leica C10 sensors. First, it is visually assessed how different features appear in both the Zeb1 and Leica C10 point clouds. Next, a quantitative analysis is given by comparing local point density, local noise level and stability of local normals.
Finally, a simple 3D room plan is extracted from both the Zeb1 and the Leica C10 point clouds and the lengths of constructed line segments connecting corners of the room are compared. The results show that Zeb1 is far superior in ease of data acquisition. No heavy handling, hardly no measurement planning and no point cloud registration is required from the operator. The resulting point cloud has a quality in the order of centimeters, which is fine for generating a 3D interior model of a building. Our results also clearly show that fine details of for example ornaments are invisible in the Zeb1 data. If point clouds with a quality in the order of millimeters are required, still a high-end laser scanner like the Leica C10 is required, in combination with a more sophisticated, time-consuming and elaborative data acquisition and processing approach.@en

Laser scanning samples the surface geometry of objects efficiently and records versatile information as point clouds. However, often more scans are required to fully cover a scene. Therefore, a registration step is required that transforms the different scans into a common coordinate system. The registration of point clouds is usually conducted in two steps, i.e. coarse registration followed by fine registration. In this study an automatic marker-free coarse registration method for pair-wise scans is presented. First the two input point clouds are re-sampled as voxels and dimensionality features of the voxels are determined by principal component analysis (PCA). Then voxel cells with the same dimensionality are clustered. Next, the Extended Gaussian Image (EGI) descriptor of those voxel clusters are constructed using significant eigenvectors of each voxel in the cluster. Correspondences between clusters in source and target data are obtained according to the similarity between their EGI descriptors. The random sampling consensus (RANSAC) algorithm is employed to remove outlying correspondences until a coarse alignment is obtained. If necessary, a fine registration is performed in a final step. This new method is illustrated on scan data sampling two indoor scenarios. The results of the tests are evaluated by computing the point to point distance between the two input point clouds. The presented two tests resulted in mean distances of 7.6 mm and 9.5 mm respectively, which are adequate for fine registration.@en