1. Terrestrial laser scanning (TLS) is an effective technique for 3D building modeling that uses laser rangefinding to rapidly acquire dense 3D point clouds of object surfaces. 2. The document describes the process of using a Leica C10 TLS to collect over 21 million data points from a building in under 7 minutes and then processing the raw data in Cyclone software to generate a 3D model after noise removal and registration. 3. Validation measurements found the TLS measurements to be accurate to within 1 cm on average compared to physical measurements of objects in the building. The document proposes improvements to future TLS data collection and modeling.

1. Brown, L., Drew, O., Kramer, I., Maranzu, V. and Rouse, C.
Terrestrial Laser Scanning for 3D Building Modelling

2. Output &
Validation
Data
Processing
Registration
Noise removal
Data
Collection
Leica C10
Site selection
3D Mapping
Available
methods
TLS
The Proposed Work

3. Available Methods
• Increasing demand for 3D building models
• Range of techniques available (Arayici, 2007; Mill et al., 2013):
• Traditional survey
• Tape measure
• Surveyor’s wheel
• Electronic distance meter
• Total station
• Close range photogrammetry

4. Terrestrial Laser Scanning
Definition:
“a ground-based, active imaging method that rapidly
acquires accurate, dense 3D point clouds of object
surfaces by laser range-finding” (Lichti, 2015)

5. Terrestrial Laser Scanning
Three types:
1. Triangulation-based
2. Pulse-based
3. Phase-based
• Over 1,000,000 pps
• Max. range 80m
• Comparable
accuracy
• 10,000-100,000 pps
• Max. range 300m
• 4-10mm accuracy

6. Terrestrial Laser Scanning
• Rapid acquisition
• Non-invasive
• Day or night operation
Source: rudi.net/files/paper/illustrations/composite.jpg

7. C10
Pulse-based
Green wavelength: 532nm
Point density: 50,000
Positional accuracy: 4mm
Range: 300m @ 90%
Source: http://hds.leica-geosystems.com

8. Data Collection
Resolution: 2cm at 20m
Max distance: 4m
Time: 7 minutes per scan
Points collected:
~21 million
Field-of-View:
270° (vertical)
360°(horizontal)

9. ProcessingRegistrationDatabase
Processing in Cyclone 9.0
Raw Data
• Noise Removal
• 3D Model
• Cloud-to-Cloud
• Add Constraints

10. Constraints (Control points)
Scan 1 Scan 2

11. Registered Point-clouds

12. People
Objects
Shadow
Outside
capture
Errors
Noise Removal
Registered Cleaned

13. 3D Modelling

14. Output

15. Output

16. Object TLS (cm) Observed (cm) Error (cm)
Height
Poster frame 120.0 119.4 -0.6
Wall A 273.0 274.7 1.7
Double door 203.5 203.1 -0.4
Step 16.5 16.6 0.1
Wall B 279.0 278.3 -0.7
Width
Single door 83.5 83.4 -0.1
Double door 161.5 160.6 -0.9
Flower pot 39.5 38.4 -1.1
Step 118.0 117.4 -0.6
Chair 43.5 42.5 -1.0
RMSE 1.0
Validation

17. Improved Data Collection
• Full coverage
• Additional corridor
• Additional stairs
• Three stations
• Quicker
• Less accurate
• Difficult registration

18. • Leica P40 Scanner
• Combination of phase-based and pulse-based
• Spatial resolution: 1.2mm
• 1,000,000 pps
• Positional accuracy: 3mm
• Integrated approach
• Multiple scans of varying resolutions
• High-definition targets
• Undertake in morning/at night
• Additional software (SketchUp, AutoCAD)
Future Work
http://www.comptonmoving.com/http://hds.leica-geosystems.com/Bastonero et al., 2014http://www.coroflot.com/

19. Summary

20. References
• Arayici, Y., 2007. An approach for real world data modelling with the 3D terrestrial laser scanner for built environment, Automation in
Construction, 16, 816-829.
• Bastonero, P., et al., 2014. Fusion of 3D models derived from TLS and image-based techniques for CH enhanced documentation, ISPRS
Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume 2, ISPRS Technical Commission V
Symposium.
• El-Hakim et al., 1997. System for Indoor 3-D Mapping and Virtual Environments, SPIE, 3174, 21-35.
• Feng, Q., 2012. Advantages By Phase-based 3D Laser Scanning Techniques to Underground Construction, International Society for Rock
Mechanics.
• Lee, S.Y., et al., 2013. 3D Data Acquisition for Indoor Assets Using Terrestrial Laser Scanning, ISPRS Annals of the Photogrammetry,
Remote Sensing and Spatial Information Sciences, Volume 2, ISPRS 8th 3DGeoInfo Conference & WG II/2 Workshop, 27-29.
• Lichti, D., 2015. Special Issue "Terrestrial Laser Scanning“, Remote Sensing.
• MENSI, 2012. Technical specifications. Available from: http://mensi.free.fr/english/specsoi.htm
• Mill, T., et al., 2013. Combined 3D building surveying techniques – terrestrial laser scanning (TLS) and total station surveying for BIM data
management purposes, Journal of Civil Engineering and Management, 19, 1, S23-S32.
• Ordonez, C., et al., 2010. Measuring building facades with a low-cost closerange photogrammetry system, Automation in Construction,
19, 6, 742749.
• Williams, K.E., et al., 2012. Accuracy Assessment Of Geo-referencing Methodologies For Terrestrial Laser Scan Site Surveys, ASPRS
Annual Conference, Sacramento, California.