The bore-sight calibration procedure and results of a profile laser scanner using a large size exterior calibration field is presented in the paper. The task is a part of Autonomous Mapping Airship (AMA) project which aims to create s surveying system with specific properties suitable for effective surveying of medium-wide areas (units to tens of square kilometers per a day). As is obvious from the project name an airship is used as a carrier. This vehicle has some specific properties. The most important properties are high carrying capacity (15 kg), long flight time (3 hours), high operating safety and special flight characteristics such as stability of flight, in terms of vibrations, and possibility to flight at low speed. The high carrying capacity enables using of high quality sensors like professional infrared (IR) camera FLIR SC645, high-end visible spectrum (VIS) digital camera and optics in the visible spectrum and tactical grade INSGPS sensor iMAR iTracerRT-F200 and profile laser scanner SICK LD-LRS1000. The calibration method is based on direct laboratory measuring of coordinate offset (lever-arm) and in-flight determination of rotation offsets (bore-sights). The bore-sight determination is based on the minimization of squares of individual point distances from measured planar surfaces.
An experimental approach to the land drainage system detection and its physical and spatial parameters evaluation by the form of pilot project is presented in this paper. The novelty of the approach is partly based on using of unique unmanned aerial vehicle - airship with some specific properties. The most important parameters are carrying capacity (15 kg) and long flight time (3 hours). A special instrumentation was installed for physical characteristic testing in the locality too. The most important is 30 meter high mast with 3 meter length bracket at the top with sensors recording absolute and comparative temperature, humidity and wind speed and direction in several heights of the mast. There were also installed several measuring units recording local condition in the area. Recorded data were compared with IR images taken from airship platform. The locality is situated around village Domanín in the Czech Republic and has size about 1.8 x 1.5 km. There was build a land drainage system during the 70-ties of the last century which is made from burnt ceramic blocks placed about 70 cm below surface. The project documentation of the land drainage system exists but real state surveying haven´t been never realized. The aim of the project was land surveying of land drainage system based on infrared, visual and its combination high resolution orthophotos (10 cm for VIS and 30 cm for IR) and spatial and physical parameters evaluation of the presented procedure. The orthophoto in VIS and IR spectrum and its combination seems to be suitable for the task.
Unmanned aerial mapping is becoming more and more popular in the last years, mostly because of advances in 3D reconstruction from images and its price affordability. The results of 3D reconstruction from images coming close to results of laser scanning in the resolution and accuracy point of view in some cases. However, mobile laser scanning still have advantages in reliability and easiness of measured data processing. That’s why we have chosen an airship as a carrier capable to carry laser scanning unit. Most of the laser scanner used in mobile mapping works in profiler (2D, plane) mode. We decided to modify laser scanner Sick LD-LRS1000 for scanning in conical shape mode, because of its favorable properties. The realization of the modification is described in the paper.
Total reconstruction of a historical object is a complicated process consisting of several partial steps. One of these steps is acquiring high-quality data for preparation of the project documentation. If these data are not available from the previous periods, it is necessary to proceed to a detailed measurement of the object and to create a required drawing documentation. New measurement of the object brings besides its costs also several advantages as complex content and form of drawings exactly according to the requirements together with their high accuracy. The paper describes measurement of the Baroque church by the laser scanning method extended by the terrestrial and air photogrammetry. It deals with processing the measured data and creating the final outputs, which is a 2D drawing documentation, orthophotos and a 3D model. Attention is focused on their problematic parts like interconnection of the measurement data acquired by various technologies, creation of orthophotos and creation of the detailed combined 3D model of the church exterior. Results of this work were used for preparation of the planned reconstruction of the object.
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