Institute of Geodesy and Geoinformation, University of Bonn, Nussallee 17, 53115 Bonn, Germany.
Zoller & Fröhlich GmbH, Simoniusstraße 22, 88239 Wangen im Allgäu, Germany.
Sensors (Basel). 2018 Jul 12;18(7):2253. doi: 10.3390/s18072253.
Kinematic laser scanning with moving platforms has been used for the acquisition of 3D point clouds of our environment for many years. A main application of these mobile systems is the acquisition of the infrastructure, e.g., the road surface and buildings. Regarding this, the distance between laser scanner and object is often notably shorter than 20 m. In the close range, however, divergent incident laser light can lead to a deterioration of the precision of laser scanner distance measurements. In the light of this, we analyze the distance precision of the 2D laser scanner Z + F Profiler 9012A, purpose-built for kinematic applications, in the range of up to 20 m. In accordance with previous studies, a clear dependency between scan rate, intensity of the backscattered laser light and distance precision is evident, which is used to derive intensity-based stochastic models for the sensor. For this purpose, a new approach for 2D laser scanners is proposed that is based on the static scanning of surfaces with different backscatter. The approach is beneficial because the 2D laser scanner is operated in its normal measurement mode, no sophisticated equipment is required and no model assumptions for the scanned surface are made. The analysis reveals a lower precision in the range below 5 m caused by a decreased intensity. However, the Z + F Profiler 9012A is equipped with a special hardware-based close range optimization partially compensating for this. Our investigations show that this optimization works best at a distance of about 2 m. Although increased noise remains a critical factor in the close range, the derived stochastic models are also valid below 5 m.
多年来，移动平台的运动激光扫描已被用于获取我们环境的 3D 点云。这些移动系统的主要应用之一是获取基础设施，例如路面和建筑物。在这种情况下，激光扫描仪和物体之间的距离通常明显短于 20 米。然而，在近距离，发散的入射激光会导致激光扫描仪距离测量精度下降。有鉴于此，我们分析了专为运动应用而设计的 2D 激光扫描仪 Z + F Profiler 9012A 在 20 米范围内的距离精度。根据先前的研究，扫描速率、反向散射激光光强度和距离精度之间存在明显的依赖性，这用于为传感器推导基于强度的随机模型。为此，提出了一种适用于 2D 激光扫描仪的新方法，该方法基于对不同反向散射表面的静态扫描。这种方法是有益的，因为 2D 激光扫描仪在其正常测量模式下运行，不需要复杂的设备，也不需要对扫描表面做出模型假设。分析表明，由于强度降低，在 5 米以下范围内的精度较低。然而，Z + F Profiler 9012A 配备了一种特殊的基于硬件的近距离优化，部分补偿了这一点。我们的研究表明，这种优化在距离约 2 米时效果最佳。尽管近距离的噪声增加仍然是一个关键因素，但推导的随机模型在 5 米以下也有效。
