tmatch.pptVIP

TerraMatch Introduction Arttu Soininen Copyrights Algorithm developed by Helen Burman, DigPro, Sweden User interface developed by Arttu Soininen, Terrasolid, Finland Errors in laser data Error sources Errors in laser distance measurement Scanning mirror errors Errors in position (GPS) Errors in orientation (INS) TerraMatch solves systematic errors in position, orientation or mirror scale Task Solve laser scanner calibration parameters scanner / IMU misalignment (hrp) mirror scale Solve mismatches in project data heading, roll and pitch correction for whole data set heading, roll, pitch and dz correction for each flightline Requirements Multiple flightlines with overlap Time stamped trajectory information time x y z [h r p] Laser points linked to trajectory position flightline number matching trajectory number time stamp Algorithm - Input data Trajectories Laser points linked to trajectories surfaces classified Optional known points Algorithm - Observations Builds a triangulated model of each flightline surface Compares overlapping laser points and known points against that surface Translates observed difference to heading/roll/pitch/dz Algorithm - Solvable parameters Easting shift Northing shift Elevation shift Heading shift Roll shift Pitch shift Mirror scale Algorithm - Parameter difficulty Dz easiest Roll easy flat surfaces are sufficient Pitch more difficult requires slopes in flight direction Heading most difficult requires slopes on both sides of flightline Algorithm - Parameter difficulty Roll and dZ can be solved even in flat terrain Algorithm - Parameter difficulty Pitch, Heading, dEasting and dNorthing require slopes Preprocessing Import trajectories into TerraScan Split each trajectory which overlaps itself Import laser points Assign flightline numbers to laser points Classify low points below ground Classify ground in each flightline And/or classify some buildings Calibration workflow Classify ground (+buildings) for each flightline Smoothen ground