scholarly journals A Normalization scheme for Terrestrial LiDAR Intensity Data by Range and Incidence Angle

2018 ◽  
Author(s):  
Sandeep Sasidharan
Keyword(s):  
Incidence Angle ◽  
Autonomous Vehicle ◽  
Laser Scanner ◽  
Spectral Information ◽  
Intensity Data ◽  
Automatic Registration ◽  
Terrestrial Lidar ◽  
Intensity Information ◽  
Laser Scanners ◽  
Normalization Scheme

Automatic registration, classification and segmentation of Terrestrial Laser Scanner (TLS) data are of great interest in Geoinformatics & Autonomous vehicle research. Along with dense and accurate 3D geometric data, laser scanners also collect return intensity information. Inclusion of this spectral information has potential to improve the working of the above mentioned processes. However, these intensity values need to be normalized, prior to their use, as they are subject to a large number of errors. This paper presents a technique to carry out normalization of intensity values using the range and incidence angle corrections. The developed approach has been tested on a large number of data and results are found satisfactory.

scholarly journals Intensity Data Correction for Long-Range Terrestrial Laser Scanners: A Case Study of Target Differentiation in an Intertidal Zone

2019 ◽  
Vol 11 (3) ◽  
pp. 331 ◽  
Author(s):  
Kai Tan ◽  
Jin Chen ◽  
Weiwei Qian ◽  
Weiguo Zhang ◽  
Fang Shen ◽  
...  
Keyword(s):  
Intertidal Zone ◽  
Incidence Angle ◽  
Spectral Characteristics ◽  
Laser Scanner ◽  
Indoor Environments ◽  
Intensity Data ◽  
Improved Method ◽  
Long Distance ◽  
Target Characteristics

The intensity data recorded by a terrestrial laser scanner (TLS) contain spectral characteristics of a scanned target and are mainly influenced by incidence angle and distance. In this study, an improved implementable method is proposed to empirically correct the intensity data of long-distance TLSs. Similar to existing methods, the incidence angle–intensity relationship is estimated using some reference targets scanned in the laboratory. By contrast, due to the length limit of indoor environments and the laborious data processing, the distance–intensity relationship is derived by selecting some natural homogeneous targets with distances covering the entire distance scale of the adopted long-distance TLS. A case study of intensity correction and point cloud classification in an intertidal zone in Chongming Island, Shanghai, China, is conducted to validate the feasibility of the improved method by using the intensity data of a long-distance TLS (Riegl VZ-4000). Results indicate that the improved method can accurately eliminate the effects of incidence angle and distance on the intensity data of long-distance TLSs; the coefficient of variation of the intensity data for the targets in the study intertidal zone can be reduced by approximately 54%. The classification results of the study intertidal zone show that the improved method can effectively eliminate the variations caused by the incidence angle and distance in the original intensity data of the same target to obtain a corrected intensity that merely depends on target characteristics for improving classification accuracy by 49%.

scholarly journals Measuring Surface Moisture on a Sandy Beach based on Corrected Intensity Data of a Mobile Terrestrial LiDAR

2020 ◽  
Vol 12 (2) ◽  
pp. 209 ◽  
Author(s):  
Junling Jin ◽  
Lars De Sloover ◽  
Jeffrey Verbeurgt ◽  
Cornelis Stal ◽  
Greet Deruyter ◽  
...  
Keyword(s):  
Sandy Beach ◽  
Incidence Angle ◽  
Measurement Techniques ◽  
Laser Scanner ◽  
Temporal Distribution ◽  
Target Surface ◽  
Sandy Beaches ◽  
Estimation Model ◽  
Terrestrial Lidar ◽  
Surface Moisture

Surface moisture plays a key role in limiting the aeolian transport on sandy beaches. However, the existing measurement techniques cannot adequately characterize the spatial and temporal distribution of the beach surface moisture. In this study, a mobile terrestrial LiDAR (MTL) is demonstrated as a promising method to detect the beach surface moisture using a phase-based Z&F/Leica HDS6100 laser scanner mounted on an all-terrain vehicle. Firstly, two sets of indoor calibration experiments were conducted so as to comprehensively investigate the effect of distance, incidence angle and sand moisture contents on the backscattered intensity by means of sand samples with an average grain diameter of 0.12 mm. A moisture estimation model was developed which eliminated the effects of the incidence angle and distance (it only relates to the target surface reflectance). The experimental results reveal both the distance and incidence angle influencing the backscattered intensity of the sand samples. The standard error of the moisture model amounts to 2.0% moisture, which is considerably lower than the results of the photographic method. Moreover, a field measurement was conducted using the MTL system on a sandy beach in Belgium. The accuracy and robustness of the beach surface moisture derived from the MTL data was evaluated. The results show that the MTL is a highly suitable technique to accurately and robustly measure the surface moisture variations on a sandy beach with an ultra-high spatial resolution (centimeter-level) in a short time span (12 × 200 m per minute).

Effect of Distance and Incidence Angle on Laser Intensity Data of Building Materials

2014 ◽  
Vol 638-640 ◽  
pp. 2137-2140 ◽  
Author(s):  
Gui Hua Cang ◽  
Jian Ping Yue
Keyword(s):  
Building Materials ◽  
Laser Intensity ◽  
Incidence Angle ◽  
Laser Scanner ◽  
Laser Wavelength ◽  
Intensity Data ◽  
Object Surface ◽  
Laser Reflectance ◽  
Building Facades ◽  
Experimental Survey

3D terrestrial laser scanner (TLS) provides both 3D point coordinates and intensity data of scanned object surface. The intensity data can be used to discriminate different materials, since it partly represents the object reflection characteristic at the laser wavelength. In addition to laser reflectance properties of object, the intensity data is influenced by many other factors, such as instrument mechanism, environmental condition, distance and incidence angle. In this paper, the effects of distance and incidence angle are studied. Except for standard reflector, some building facades of various kind of material were used as experimental samples. Experimental survey find that the intensity is inversely proportional to distance and incidence angle, but their relations do not agree with the theoretical model. Several models were selected to describe the relations between intensity and distance, intensity and incidence angle. The suitability of each model was analyzed by its correlation coefficient.

scholarly journals Prediction of Aboveground Biomass of Three Cassava (Manihot esculenta) Genotypes Using a Terrestrial Laser Scanner

2021 ◽  
Vol 13 (7) ◽  
pp. 1272
Author(s):  
Tyler Adams ◽  
Richard Bruton ◽  
Henry Ruiz ◽  
Ilse Perez ◽  
Michael G. Selvaraj ◽  
...  
Keyword(s):  
Aboveground Biomass ◽  
Laser Scanner ◽  
Leaf Biomass ◽  
World Population ◽  
Terrestrial Lidar ◽  
Laser Scanners ◽  
Major Bottleneck ◽  
Remote Sensing Techniques ◽  
Field Setting

Challenges in rapid prototyping are a major bottleneck for plant breeders trying to develop the needed cultivars to feed a growing world population. Remote sensing techniques, particularly LiDAR, have proven useful in the quick phenotyping of many characteristics across a number of popular crops. However, these techniques have not been demonstrated with cassava, a crop of global importance as both a source of starch as well as animal fodder. In this study, we demonstrate the applicability of using terrestrial LiDAR for the determination of cassava biomass through binned height estimations, total aboveground biomass and total leaf biomass. We also tested using single LiDAR scans versus multiple registered scans for estimation, all within a field setting. Our results show that while the binned height does not appear to be an effective method of aboveground phenotyping, terrestrial laser scanners can be a reliable tool in acquiring surface biomass data in cassava. Additionally, we found that using single scans versus multiple scans provides similarly accurate correlations in most cases, which will allow for the 3D phenotyping method to be conducted even more rapidly than expected.

Feature Based Mapping Procedure with Application on Simultaneous Localization and Mapping (SLAM)

2010 ◽  
Vol 166-167 ◽  
pp. 265-270
Author(s):  
Razvan Luca ◽  
Fritz Tröster ◽  
Robert Gall ◽  
Carmen Simion
Keyword(s):  
Autonomous Navigation ◽  
Autonomous Vehicle ◽  
Laser Scanner ◽  
Relevant Information ◽  
Process Data ◽  
Mapping Procedure ◽  
Localization And Mapping ◽  
Laser Scanners ◽  
Map Generation ◽  
Feature Based

We are presenting a feature based mapping procedure applied on data reduction to the relevant information used for autonomous navigation. The proceeding is based on the evaluation of the environment using a SICK LD laser scanner. We assume that laser scanners have the advantage of producing reliable data with well understood characteristics for map generation. By implementing evolutive algorithms we process data into lines representing edges of the surrounding objects and create a simplified representation of the environment (feature based). Because of the dynamic generation and evolution of the map, during the movement of the autonomous vehicle we are considering of merging and fitting the data by applying a shape correlation. The goal of our project defines the capability of a fully autonomous vehicle to safely drive through the environment until reaching the standard parking lots and complete autonomous parking procedures.

scholarly journals DAMAGE DETECTION FOR HISTORICAL ARCHITECTURES BASED ON TLS INTENSITY DATA

2018 ◽  
Vol XLII-3 ◽  
pp. 915-921 ◽  
Author(s):  
Q. Li ◽  
X. Cheng
Keyword(s):  
Damage Detection ◽  
Incidence Angle ◽  
Laser Scanner ◽  
Physical Contact ◽  
Intensity Data ◽  
Geometric Information ◽  
Angle Effect ◽  
Intensity Images ◽  
Historical Sites ◽  
Corrected Intensity

TLS (Terrestrial Laser Scanner) has long been preferred in the cultural heritage field for 3D documentation of historical sites thanks to its ability to acquire the geometric information without any physical contact. Besides the geometric information, most TLS systems also record the intensity information, which is considered as an important measurement of the spectral property of the scanned surface. Recent studies have shown the potential of using intensity for damage detection. However, the original intensity is affected by scanning geometry such as range and incidence angle and other factors, thus making the results less accurate. Therefore, in this paper, we present a method to detect certain damage areas using the corrected intensity data. Firstly, two data-driven models have been developed to correct the range and incidence angle effect. Then the corrected intensity is used to generate 2D intensity images for classification. After the damage areas being detected, they are re-projected to the 3D point cloud for better visual representation and further investigation. The experiment results indicate the feasibility and validity of the corrected intensity for damage detection.

scholarly journals Airborne LiDAR Intensity Correction Based on a New Method for Incidence Angle Correction for Improving Land-Cover Classification

2021 ◽  
Vol 13 (3) ◽  
pp. 511
Author(s):  
Qiong Wu ◽  
Ruofei Zhong ◽  
Pinliang Dong ◽  
You Mo ◽  
Yunxiang Jin
Keyword(s):  
Classification Accuracy ◽  
Incidence Angle ◽  
Incident Angle ◽  
Laser Scanner ◽  
Airborne Lidar ◽  
New Method ◽  
Forest Monitoring ◽  
Measurement Unit ◽  
Intensity Data ◽  
Corrected Intensity

Light detection and range (LiDAR) intensity is an important feature describing the characteristics of a target. The direct use of original intensity values has limitations for users, because the same objects may have different spectra, while different objects may have similar spectra in the overlapping regions of airborne LiDAR intensity data. The incidence angle and range constitute the geometric configuration of the airborne measurement system, which has an important influence on the LiDAR intensity. Considering positional shift and rotation angle deviation of the laser scanner and the inertial measurement unit (IMU), a new method for calculating the incident angle is presented based on the rigorous geometric measurement model for airborne LiDAR. The improved approach was applied to experimental intensity data of two forms from a RIEGL laser scanner system mounted on a manned aerial platform. The results showed that the variation coefficient of the intensity values after correction in homogeneous regions is lower than that obtained before correction. The overall classification accuracy of the corrected intensity data of the first form (amplitude) is significantly improved by 30.01%, and the overall classification accuracy of the corrected intensity data of second form (reflectance) increased by 18.21%. The results suggest that the correction method is applicable to other airborne LiDAR systems. Corrected intensity values can be better used for classification, especially in more refined target recognition scenarios, such as road mark extraction and forest monitoring. This study provides useful guidance for the development of future LiDAR data processing systems.

Handheld Laser Scanner Research

2019 ◽  
Vol 952 (10) ◽  
pp. 47-54
Author(s):  
A.V. Komissarov ◽  
A.V. Remizov ◽  
M.M. Shlyakhova ◽  
K.K. Yambaev
Keyword(s):  
Point Cloud ◽  
Three Dimensional ◽  
Laser Scanner ◽  
Test Site ◽  
Optical Systems ◽  
Advantages And Disadvantages ◽  
Site Survey ◽  
Laser Scanners ◽  
Three Dimensional Models ◽  
The Stability

The authors consider hand-held laser scanners, as a new photogrammetric tool for obtaining three-dimensional models of objects. The principle of their work and the newest optical systems based on various sensors measuring the depth of space are described in detail. The method of simultaneous navigation and mapping (SLAM) used for combining single scans into point cloud is outlined. The formulated tasks and methods for performing studies of the DotProduct (USA) hand-held laser scanner DPI?8X based on a test site survey are presented. The accuracy requirements for determining the coordinates of polygon points are given. The essence of the performed experimental research of the DPI?8X scanner is described, including scanning of a test object at various scanner distances, shooting a test polygon from various scanner positions and building point cloud, repeatedly shooting the same area of the polygon to check the stability of the scanner. The data on the assessment of accuracy and analysis of research results are given. Fields of applying hand-held laser scanners, their advantages and disadvantages are identified.

scholarly journals LiDAR-Based Glass Detection for Improved Occupancy Grid Mapping

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2263
Author(s):  
Haileleol Tibebu ◽  
Jamie Roche ◽  
Varuna De Silva ◽  
Ahmet Kondoz
Keyword(s):  
Laser Scanner ◽  
Point Clouds ◽  
Light Detection And Ranging ◽  
Test Results ◽  
New Approach ◽  
Occupancy Grid ◽  
Laser Scanners ◽  
Novel Method ◽  
Occupancy Grid Mapping ◽  
Cartesian Coordinate

Creating an accurate awareness of the environment using laser scanners is a major challenge in robotics and auto industries. LiDAR (light detection and ranging) is a powerful laser scanner that provides a detailed map of the environment. However, efficient and accurate mapping of the environment is yet to be obtained, as most modern environments contain glass, which is invisible to LiDAR. In this paper, a method to effectively detect and localise glass using LiDAR sensors is proposed. This new approach is based on the variation of range measurements between neighbouring point clouds, using a two-step filter. The first filter examines the change in the standard deviation of neighbouring clouds. The second filter uses a change in distance and intensity between neighbouring pules to refine the results from the first filter and estimate the glass profile width before updating the cartesian coordinate and range measurement by the instrument. Test results demonstrate the detection and localisation of glass and the elimination of errors caused by glass in occupancy grid maps. This novel method detects frameless glass from a long range and does not depend on intensity peak with an accuracy of 96.2%.

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