Philipp Amon
Complementary use of ground based kinematic and UAV-borne high precision laser scanning for railway monitoring using RiCOPTER & VUX-SYS
Philipp Amon Manager, UAS Operations RIEGL Laser Measurement Systems AUVSI, Brussels, March 22nd, 2016
Content • Why using ULS (Unmanned Laser Scanning) ? – Advantages of this new technique
• RIEGL RiCOPTER, a powerful UAV carrying platform – RIEGL VUX-1 series LIDAR engine
– RIEGL VUX-SYS, a fully integrated system
• Case Study: RIEGL/SNCF – French project – Data acquisition on railway environment – Acquisition analysis – Precision and Accuracy
RIEGL – Innovation in 3D
UAV hype – why with LIDAR? • LIDAR advantages – long range and high accuracy – penetration of vegetation – excellently suited for surveying of feature-poor areas – independent of ambient light • UAV advantages for LIDAR – quick deployment – flexibility of vantage point • ULS is reducing entry-level barrier for using advanced LIDAR technology
RiCOPTER – Key facts
• Fully integrated turnkey solution – Octocopter – Foldable carrier arms – MTOM: More than 100 points on the top of the rail
–
8mm accuracy
UAV LiDAR validation for track studies (rail extraction, clearance control, …)
Precision and accuracy • “Mobile LiDAR (Train)” vs. “UAV LiDAR” • Point cloud accuracy
• Georeferencing –
Offset before
Offset afterwards
Position offset less than 10cm (could be optimize by using more control points)
• Point cloud geometry –
UAV LiDAR perfectly fitting with Train LiDAR
UAV LiDAR validation for railway (catenaries, vegetation, …)
Kinematic Laser Scanning
Why kinematic scan data adjustment?
How do trajectory errors affect point clouds from kinematic laser scanning ?
Unmanned Laser Scanning-Accuracy Levels GNSS/IMU
truth
Laser Scanners
System Calibration
Platform Trajectory
scanner coordinate systems
lever arms and orientation
from GNSS/IMU
highly accurate and precise
highly accurate and precise ~ mm ~ mdeg
~ some mm
comparably low accuracy
~ some cm — m ~ several mdeg
Workflow – Post-processing GNSS/IMU trajectory
raw laser scan data
RiWORLD
control objects
point cloud RiPRECISION
optimized pointcloud
optimized trajectory RiPROCESS
Conclusion / outlook • Safety improvement •
No traffic disturbance
•
Better infrastructure knowledge
• Acquisition improvement •
High speed and high quality measurement (better than 1 cm)
• Cost reduction •
Reduce operational expense
•
Data sharing (rail, vegetation, catenaries, …)
•
No train needed
• Outlook •
A multiplatform LiDAR for VLOS and BVLOS application
UAV LiDAR : a new tool for railway monitoring and inspection
Philipp AMON [email protected]
Thank you!
www.riegl.com
Flavien VIGUIER [email protected]
Philipp Amon Manager, UAS Operations RIEGL Laser Measurement Systems AUVSI, Brussels, March 22nd, 2016
Content • Why using ULS (Unmanned Laser Scanning) ? – Advantages of this new technique
• RIEGL RiCOPTER, a powerful UAV carrying platform – RIEGL VUX-1 series LIDAR engine
– RIEGL VUX-SYS, a fully integrated system
• Case Study: RIEGL/SNCF – French project – Data acquisition on railway environment – Acquisition analysis – Precision and Accuracy
RIEGL – Innovation in 3D
UAV hype – why with LIDAR? • LIDAR advantages – long range and high accuracy – penetration of vegetation – excellently suited for surveying of feature-poor areas – independent of ambient light • UAV advantages for LIDAR – quick deployment – flexibility of vantage point • ULS is reducing entry-level barrier for using advanced LIDAR technology
RiCOPTER – Key facts
• Fully integrated turnkey solution – Octocopter – Foldable carrier arms – MTOM: More than 100 points on the top of the rail
–
8mm accuracy
UAV LiDAR validation for track studies (rail extraction, clearance control, …)
Precision and accuracy • “Mobile LiDAR (Train)” vs. “UAV LiDAR” • Point cloud accuracy
• Georeferencing –
Offset before
Offset afterwards
Position offset less than 10cm (could be optimize by using more control points)
• Point cloud geometry –
UAV LiDAR perfectly fitting with Train LiDAR
UAV LiDAR validation for railway (catenaries, vegetation, …)
Kinematic Laser Scanning
Why kinematic scan data adjustment?
How do trajectory errors affect point clouds from kinematic laser scanning ?
Unmanned Laser Scanning-Accuracy Levels GNSS/IMU
truth
Laser Scanners
System Calibration
Platform Trajectory
scanner coordinate systems
lever arms and orientation
from GNSS/IMU
highly accurate and precise
highly accurate and precise ~ mm ~ mdeg
~ some mm
comparably low accuracy
~ some cm — m ~ several mdeg
Workflow – Post-processing GNSS/IMU trajectory
raw laser scan data
RiWORLD
control objects
point cloud RiPRECISION
optimized pointcloud
optimized trajectory RiPROCESS
Conclusion / outlook • Safety improvement •
No traffic disturbance
•
Better infrastructure knowledge
• Acquisition improvement •
High speed and high quality measurement (better than 1 cm)
• Cost reduction •
Reduce operational expense
•
Data sharing (rail, vegetation, catenaries, …)
•
No train needed
• Outlook •
A multiplatform LiDAR for VLOS and BVLOS application
UAV LiDAR : a new tool for railway monitoring and inspection
Philipp AMON [email protected]
Thank you!
www.riegl.com
Flavien VIGUIER [email protected]
