error analysis of terrestrial laser scanning data by means of spherical statistics and 3d graphs地面激光扫描数据的误差分析通过球形统计和3 d图形.pdfVIP

Sensors 2010, 10, 10128-10145; doi: 10.3390/s101110128 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Error Analysis of Terrestrial Laser Scanning Data by Means of Spherical Statistics and 3D Graphs Aurora Cuartero 1,*, Julia Armesto 2, Pablo G. Rodríguez 1 and Pedro Arias 2 1 Polytechnic School, University of Extremadura, 10071 Cáceres, Spain; E-Mail: pablogr@unex.es (P.G.-R.) 2 Mining Engineering School, University of Vigo, 36310 Vigo, Spain; E-Mails: julia@uvigo.es (J.A.); parias@uvigo.es (P.A.) * Author to whom correspondence should be addressed; E-Mail: acuartero@unex.es; Tel.: +34-927257195; Fax: +34-927257324. Received: 26 August 2010; in revised form: 18 October 2010 / Accepted: 5 November 2010 / Published: 10 November 2010 Abstract: This paper presents a complete analysis of the positional errors of terrestrial laser scanning (TLS) data based on spherical statistics and 3D graphs. Spherical statistics are preferred because of the 3D vectorial nature of the spatial error. Error vectors have three metric elements (one module and two angles) that were analyzed by spherical statistics. A study case has been presented and discussed in detail. Errors were calculating using 53 check points (CP) and CP coordinates were measured by a digitizer with submillimetre accuracy. The positional accuracy was analyzed by both the conventional method (modular errors analysis) and the proposed meth