Milev studnicka

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Milev studnicka

  1. 1. Rail InfrastructureMeasurment System based on RIEGL VMX-450 Dr. Ivo Milev, Nikolaus Studnicka, Gerald Zach
  2. 2. Railway scanningRiegl railway backgroundApprox. 1990 2
  3. 3. Railway scanningChallenges in railway scanning• Low variation in direction -> drift of heading angle• No “on-the-fly” system calibration• GNSS visibility in tunnels• No DMI• Transformation to the railway coordinate system 3
  4. 4. Railway scanningRegistration MLS Road Rail track Registration by using Registration by using surveying poles on control points the planned rail axis 4
  5. 5. Railway scanningVMX-250/450 MLS System laser scanner mounting platform IMU GNSS receiver fully-calibrated Measuring Head DMI 5
  6. 6. Railway scanningVMX-250/450 MLS System long term stability of the VMX system calibration: “stable for ever” 6
  7. 7. Railway scanning VMX-250/450 MLS SystemData acquisition with RiACQUIRE and touchscreen operation 7
  8. 8. Railway scanningProduct specification VMX-250 VMX-450 Scanners 2 x RIEGL VQ-250 2 x RIEGL VQ-450 Effective Meas. Rate 600 kHz (2 x 300 kHz) 1.1 MHz (2 x 550 kHz) Scanrate 200 Hz (2 x 100 Lines / sec) 400 Hz (2 x 200 Lines / sec) 500 m @ 80% & 100 kHz 800 m @ 80% & 300 kHz Max. Range 75 m @ 10% & 300 kHz 140 m @ 10% & 300 kHz Accuracy 10 mm 8 mm Precision 5 mm Position (absolute) typ. 20-50 mm performance INS/GNSS Position (relative) typ. 10 mm Roll & Pitch 0.005 Heading 0.015Laser Class 1 (eye safe)Camera System (optional) Up to 6 cameras with 5 megapixels 8
  9. 9. Railway scanning Product specification rotating mirror emitted pulse vg R tTOF echo return 2 LASER target object photoscanner instrument detector echo digitization online waveform processing analog to  multi target capability digital conversion  calibrated amplitude & reflectance reading SIGNAL PROCESSING  pulse shape deviation 9
  10. 10. Railway scanningCarried out projects: Germany Railway Scanning Sept, 2011 Frankfurt / Germany compact design -> easy transport and set up -> installation on standard duty trailers 10
  11. 11. Railway scanningCalibrated reflectance reading point cloud encoded by reflectance: values > 0 dB in red 11
  12. 12. Railway scanningCalibrated reflectance reading 12
  13. 13. Railway scanningPulse shape deviation point filter based on deviation values BEFORE deviation filter AFTER deviation filter 13
  14. 14. Railway scanningCarried out projects: Germany 14
  15. 15. Railway scanning Carried out projects: GermanyYou can find our application movies at:www.youtube.com/user/RieglLMS 15
  16. 16. Railway scanning Carried out projects: GermanyTime for setup 2 persons, 1.5 hours in totalSpeed of the train 25km/h (limited by track motor car)Time for data acquisition 1 operator for RiACQUIRE, 1 driver, 1 hour in totalSection processed Station Griesheim (0.6 km, 1 record)Processed data volume scan data 4.7 GB, images 1.5 GB, of used record in section processedTime for data processing 1 person for post-processing of data set, 15 minutes for processing including export into LAS format, + extra 15 minutes computation time for coloring the point cloudPoints in total 35 Mio. Points (1 record used)Point density on ground approx. 3,600 points / m2 (close to trajectory)Tasks & Products: Automatic extraction of rail axis, fitment to rail coordinate systemTime for processing: 1 person (only for starting tasks) 0.5 hours computation timeTasks & Products: Automatic collision detection based on user-defined wagon shapes; Rail-axis based 3D Measurements; Clearance to platform corner, poles, wires, etc.Time for processing: 1 person, 5 minutes for automatic collision detection; further measurements any time on demand 16
  17. 17. Railway scanningTechnet-rail product line• SiRailScan and SiRailView • Analyzing point clouds, modeling alignment• Atrack-R and Verm.esn • Analyze polylines and recover track elements• SiRailManager • Managing scan data and additional information 17
  18. 18. Railway scanning SiRailScan Analyzing and processing point clouds• Detection of rails and infrastructure objects• Calculation of axis and axis related measurments• Collision detection with any wagon shape• Ortho views and sections• Several import and export interfaces Rail detection for axis calculation designed as an adjustment process 18
  19. 19. Railway scanning SiRailScan Analyzing and processing point clouds• Detection of rails and infrastructure objects• Calculation of axis and axis related measurments• Collision detection with any wagon shape• Ortho views and sections• Several import and export interfaces Calculation: rails and axis 19
  20. 20. Railway scanning SiRailScan Analyzing and processing point clouds• Detection of rails and infrastructure objects• Calculation of axis and axis related measurments• Collision detection with any wagon shape• Ortho views and sections• Several import and export interfaces Perpendicular measurement of distance and height above axis to any 20 point (measurement is marked with white line)
  21. 21. Railway scanning SiRailScan Analyzing and processing point clouds• Detection of rails and infrastructure objects• Calculation of axis and axis related measurments• Collision detection with any wagon shape• Ortho views and sections• Several import and export interfaces Disalingment values between the vectorized rail track axis and power 21 lines , sag – important for the maintenance cycles
  22. 22. Railway scanning SiRailScan Analyzing and processing point clouds• Detection of rails and infrastructure objects• Calculation of axis and axis related measurments• Collision detection with any wagon shape• Ortho views and sections• Several import and export interfaces Collision points will be classified and separated for easy identification and further analysis such as station referred vectorizations (LUE – “Lichtraum” units) 22
  23. 23. Railway scanning SiRailScan Analyzing and processing point clouds• Detection of rails and infrastructure objects• Calculation of axis and axis related measurments• Collision detection with any wagon shape• Ortho views and sections• Several import and export interfaces Create any orthoviews and sections 23 such as station referred sections or sections along a line
  24. 24. Railway scanning Spatial database; Environmental Resource Information Network infrastructure data base data collection/ other measurement sources planimetric geo coded trajectory 3D scans images LIRA drawings infrastructure photos and maps data track platform check of bridges othercollision distances single switches geometry edge tunnels objects points 24
  25. 25. Railway scanning SiRailManager Managing your kinematic point clouds• Combine your point clouds with web based map services and planimetric drawings• Client-Server or web based access to all point cloud data (with SiRailViewer) Merge and manage your rail way infrastructure with existing 25 measurements (orange lines)
  26. 26. Railway scanning SiRailManager Managing your kinematic point clouds• Combine your point clouds with web based map services and planimetric drawings• Client-Server or web based access to all point cloud data (with SiRailViewer) Visualize the timestampt and georeferenced photos from the 26 measurement system
  27. 27. Railway scanning SiRailManager Managing your kinematic point clouds• Combine your point clouds with web based map services and planimetric drawings• Client-Server or web based access to all point cloud data (with SiRailViewer) Easy data access and analyse - everywhere 27
  28. 28. Railway scanning SiRailManager Managing your kinematic point clouds• Combine your point clouds with web based map services and planimetric drawings• Client-Server or web based access to all point cloud data (with SiRailViewer) Select the background layer you need 28
  29. 29. Railway scanning Integrity of the railway navigation database Ambiguity free system determinationOracle andPostgreSQLbased 29
  30. 30. Railway scanning SiRailViewer Axis based analysis in axis refered point clouds• Perpendiculare measurement to wagon profile• Detection of minimum distance to the platform borderline• Collision detection• 3D distance measurement and measurement to geometries After calculating the axis with SiRailScan, any point cloud can be visualized and analyzed in axis referred mode (Axis point 30 coordinates: X = 0, Y = chainage, Z = 0)
  31. 31. Railway scanning SiRailViewer Axis based analysis in axis refered point clouds• Perpendiculare measurement to wagon profile• Detection of minimum distance to the platform borderline• Collision detection• 3D distance measurement and measurement to geometries After calculating the axis with SiRailScan, any poincloud can be visualized and analysed in axis refered mode. As example collor 31 based distances to the platform edge
  32. 32. Railway scanning SiRailViewer Axis based analysis in axis refered point clouds• Perpendiculare measurement to wagon profile• Detection of minimum distance to the platform borderline• Collision detection• 3D distance measurement and measurement to geometries After calculating the axis with SiRailScan, any poincloud can be visualized and analysed in axis refered mode (Axis point 32 coordinates: X = 0, Y = chainage, Z = 0)
  33. 33. Railway scanning SiRailViewer Axis based analysis in axis refered point clouds• Perpendiculare measurement to wagon profile• Detection of minimum distance to the platform borderline• Collision detection• 3D distance measurement and measurement to geometries Cleareance frame definition for Swiss 33
  34. 34. Railway scanning SiRailViewer Axis based analysis in axis refered point clouds• Perpendiculare measurement to wagon profile• Detection of minimum distance to the platform borderline• Collision detection• 3D distance measurement and measurement to geometries 34
  35. 35. Railway scanningCurvature elements based on the recorded INS dataAxis basedanalysis 35
  36. 36. Railway scanningSiRailLayers 36
  37. 37. Railway scanningSiRailLayers 37
  38. 38. Railway scanningSiRailLayers 38
  39. 39. Railway scanningSiRailLayers - PDF Ausgabe 39
  40. 40. Railway scanningAndroid based applications 3.2 Honeycomb 4.0 Ice Cream Sandwich 40
  41. 41. Railway scanningAndroid based applications 41
  42. 42. Railway scanningConclusion• Hardware: fully-calibrated measuring head – quick setup – mm accuracy• Complete automated processes in real time and post processing• Mounting configuration of Laser Scanners allows acquisition of traffic signs perpendicular to trajectory• Reliable survey of the environment – analyzing in 3D – clearance analysis, collision tests, distances, extract geometrical elements• 3D spatial data based on several data sources/ single databases• Harmonized information system for GNSS based navigation and maintenance• Android based mass market application based on these results but still for engineers 42
  43. 43. Thank you for your attention

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