Matti Kurkela

Data Processing and Quality Evaluation of a Boat-Based Mobile Laser Scanning System

Mobile mapping systems (MMSs) are used for mapping topographic and urban features which are difficult and time consuming to measure with other instruments. The benefits of MMSs include efficient data collection and versatile usability. This paper investigates the data processing steps and quality of a boat-based mobile mapping system (BoMMS) data for generating terrain and vegetation points in a river environment. Our aim in data processing was to filter noise points, detect shorelines as well as points below water surface and conduct ground point classification. Previous studies of BoMMS have investigated elevation accuracies and usability in detection of fluvial erosion and deposition areas. The new findings concerning BoMMS data are that the improved data processing approach allows for identification of multipath reflections and shoreline delineation. We demonstrate the possibility to measure bathymetry data in shallow (0–1 m) and clear water. Furthermore, we evaluate for the first time the accuracy of the BoMMS ground points classification compared to manually classified data. We also demonstrate the spatial variations of the ground point density and assess elevation and vertical accuracies of the BoMMS data.

3D Modeling of Coarse Fluvial Sediments Based on Mobile Laser Scanning Data

High quality sedimentary measurements are required for studying fluvial geomorphology and hydrological processes e.g., flood and river dynamics. Mobile laser scanning (MLS) currently provides the opportunity to achieve high precision measurements of coarse fluvial sediments in a large survey area. Our study aims to investigate the capability of single-track MLS data for individual particle-based sediment modeling. Individual particles are firstly detected and delineated from a digital surface model (DSM) that is generated from the MLS data. 3D MLS points of each detected individual particle are then extracted from the point cloud. The grain size and the sphericity as well as the orientation of each individual particle are estimated based on the extracted MLS points. According to the evaluations conduced in the paper, it is possible to detect and to model sediment particles above 63 mm from a single-track MLS point cloud with a high reliability. The paper further discusses the strength and the challenges of individual particle-based approach for sedimentary measurement.

Comparison of the Selected State-Of-The-Art 3D Indoor Scanning and Point Cloud Generation Methods

Accurate three-dimensional (3D) data from indoor spaces are of high importance for various applications in construction, indoor navigation and real estate management. Mobile scanning techniques are offering an efficient way to produce point clouds, but with a lower accuracy than the traditional terrestrial laser scanning (TLS). In this paper, we first tackle the problem of how the quality of a point cloud should be rigorously evaluated. Previous evaluations typically operate on some point cloud subset, using a manually-given length scale, which would perhaps describe the ranging precision or the properties of the environment. Instead, the metrics that we propose perform the quality evaluation to the full point cloud and over all of the length scales, revealing the method precision along with some possible problems related to the point clouds, such as outliers, over-completeness and misregistration. The proposed methods are used to evaluate the end product point clouds of some of the latest methods. In detail, point clouds are obtained from five commercial indoor mapping systems, Matterport, NavVis, Zebedee, Stencil and Leica Pegasus: Backpack, and three research prototypes, Aalto VILMA , FGI Slammer and the Wurzburg backpack. These are compared against survey-grade TLS point clouds captured from three distinct test sites that each have different properties. Based on the presented experimental findings, we discuss the properties of the proposed metrics and the strengths and weaknesses of the above mapping systems and then suggest directions for future research.

Luminance-Corrected 3D Point Clouds for Road and Street Environments

A novel approach to evaluating night-time road and street environment lighting conditions through 3D point clouds is presented. The combination of luminance imaging and 3D point cloud acquired with a terrestrial laser scanner was used for analyzing 3D luminance on the road surface. A calculation of the luminance (cd/m2) was based on the RGB output values of a Nikon D800E digital still camera. The camera was calibrated with a reference luminance source. The relative orientation between the luminance images and intensity image of the 3D point cloud was solved in order to integrate the data sets into the same coordinate system. As a result, the 3D model of road environment luminance is illustrated and the ability to exploit the method for evaluating the luminance distribution on the road surface is presented. Furthermore, the limitations and future prospects of the methodology are addressed. The method provides promising results for studying road lighting conditions in future lighting optimizations. The paper presents the methodology and its experimental application on a road section which consists of five luminaires installed on one side of a two-lane road in Otaniemi, Espoo, Finland.

Impacts of Room Structure Models on the Accuracy of 60 GHz Indoor Radio Propagation Prediction

Accurate indoor radio wave propagation prediction requires a model of the environment which also includes fixtures such as furniture. By laser scanning we can obtain this detailed structural data in the form of a point cloud. Since conventional field prediction tools are not applicable to the point cloud data format, we predict the electromagnetic scattering by using a single-lobe directive scattering model which can be used directly with the point cloud. The focus in this letter is to study how the density of the point cloud affects the prediction accuracy. It is shown that a point cloud density of only 2·10-4 points per square wavelength is enough at 60 GHz in order to achieve good prediction accuracy between measured and predicted delay and angular spreads.

70 GHz Radio Wave Propagation Prediction in a Large Office

Site-specific millimeter-wave propagation prediction requires data of the environment under study, which is usually not available for indoor scenarios. With means of laser scanning the details of the indoor environment can be captured accurately in the form of a point cloud. The total field is estimated as a sum of paths backscattering from the point cloud, where the electromagnetic scattering for each path is calculated with a single-lobe directive model. In this paper we focus on predicting the radio wave propagation in a large office environment at 70 GHz, where the accuracy is evaluated by comparing measured and predicted mean delays and delay and azimuth spreads. We also present a method for dealing with shadowing in the indoor environment. The results show good agreement between measured and predicted delay and azimuth spreads for line-of-sight links, and also non-line-of-sight links can be predicted with reasonable accuracy.

AUTOMATED IMAGE-BASED RECONSTRUCTION OF BUILDING INTERIORS - A CASE STUDY

In 3D reconstruction of indoor environments, automated methods offer possibilities for e.g. brokering, planning and decoration businesses. The application potential of these automated methods is, however, tied to the accuracy of these methods. In this paper, we perform a technical case study analysis on a state-of-the-art image-based method. For accuracy, we find that 60-70% of points in the reconstructed 3D point cloud are within 5 cm error range. Image-based 3D reconstruction thus offers potential for those various indoor-related applications that are satisfied with this level of accuracy. We also discuss other factors affecting to the applicability and robustness of this method.

Rapid prototyping a tool for presenting 3-dimensional digital models produced by terrestrial laser scanning

Rapid prototyping has received considerable interest with the introduction of affordable rapid prototyping machines. These machines can be used to manufacture physical models from three-dimensional digital mesh models. In this paper, we compare the results obtained with a new, affordable, rapid prototyping machine, and a traditional professional machine. Two separate data sets are used for this, both of which were acquired using terrestrial laser scanning. Both of the machines were able to produce complex and highly detailed geometries in plastic material from models based on terrestrial laser scanning. The dimensional accuracies and detail levels of the machines were comparable, and the physical artifacts caused by the fused deposition modeling (FDM) technique used in the rapid prototyping machines could be found in both models. The accuracy of terrestrial laser scanning exceeded the requirements for manufacturing physical models of large statues and building segments at a 1:40 scale.

Tutorial: Road Lighting for Efficient and Safe Traffic Environments

ABSTRACT This article discusses various aspects of outdoor lighting energy efficiency by means of new light sources and smart lighting systems. We will also discuss visibility, traffic flow, safety, and environmental and economic aspects. The use of an optimum level of road lighting maximizes the contrast between the background and the object to be seen. This suggests that the combined effect of road lighting and car headlights should be taken into account. Solutions for future measurement need to include 3D modeling of the lighting environment and mesopic photometry. The life cycle environmental impacts of high-pressure sodium (HPS) and light emitting diode (LED) luminaires were found to be on a similar level, but it is expected that LED luminaires will surpass HPS luminaires in environmental friendliness across the whole life cycle in the future. The energy-saving potential is based on new energy-efficient technology, reduced burning hours with smart control, and new lighting dimensioning. The energy saving potential when replacing HPS lamps with LED luminaires is 31% with current technology and 66% with improved technology in the future. Further energy savings are achievable with reduced burning hours enabled with smart lighting. Altogether, the energy-saving potential of the future LED luminaire is 83% compared to current HPS luminaires.

Modern empirical and modelling study approaches in fluvial geomorphology to elucidate sub-bend-scale meander dynamics

Major developments in theory and modelling techniques have taken place within the past couple of decades in the field of the fluvial geomorphology. In this review, we examine the state-of-the-art empirical and modelling approaches and discuss their potential benefits and shortcomings in deepening understanding of the sub-bend-scale fluvial geomorphology of meander bends. Meandering rivers represent very complex 3D flow and sedimentary processes. We focus on high-resolution techniques which have improved the spatial and temporal resolution of the data and thereby enabled investigation of processes, which have been thus far beyond the capacity of the measurement techniques. This review covers the measurement techniques applied in the field and in laboratory circumstances as well as the close-range remote sensing techniques and computational approaches. We discuss the key research questions in fluvial geomorphology of meander bends and demonstrate how the contemporary approaches have been and could be applied to solve these questions.