03 TLS-Training Data Registration v1.0!30!01-2012

Training Material for RIEGL VZ-XX
PRELIMINARY VERSION
Module 3
Data Registration
RIEGL Laser Measurement Systems GmbH

3580 Horn, AUSTRIA
1
www.riegl.com
Module 3 Data Registration
Table of Contents
Coordinate Systems and Transformations
Registration Methodes
Registration by Use of Reflectors (Control Points)
Coarse Registration
Backsighting Orientation
Multistation Adjustment (MSA)
Practical Examples
POSE Estimation (GPS, Inclination sensors and Integrated Compass)
Combination Coarse Registration & MSA
Combination Reflectors & MSA (Chain, Ring)
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COORDINATE SYSTEMS
AND TRANSFORMATIONS
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Coordinate Systems
SOCS (Scanners Own Coordinate System)
PRCS (Project Coordinate System)
GLCS (Global Coordinate System)
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Coordinate Systems
SOCS
Scanners Own Coordinate System
ZPRCS
XPRCS YPRCS
ZGLCS
MSOP
... Scanners orientation

and position in PRCS
MPOP
... Project coordinate systems

orientation and position in GLCS
PRCS
Project Coordinate System
GLCS
GLobal Coordinate System
XGLCS YGLCS
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REGISTRATION METHODES
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Registration Methods
Registration by Use of Reflectors
(Control Points)
Coarse Registration
Multistation Adjustment (MSA)
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Registration method
REGISTRATION BY USE OF
REFLECTORS (CONTROL POINTS)
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10
Reflectors Overview
The standard registration process in RiSCAN
PRO is based on corresponding tiepoints
(finescanned reflectors).
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Registration by Use of Reflectors
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Find Corresponding Points
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MODE:
by Link
the SOP will be calculated without changing the
corresponding points (links)
by Name
retrieve the corresponding points by
comparing their names (the SOP will be recalculated)
Minimize Error (Default) - Recommended

the point-pairs will be detected automatically
(the SOP will be recalculated)
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PARAMETERS:
Tolerance
defines the search radius (the maximum distance
between two corresponding points in order to
recognize them as corresponding).
Default settings: Tolerance = 0.1m
Minimum N
defines the minimum number of point-pairs.
Please note:
Minimum 3 corresponding points are needed for a
unambiguous solution
(If you set this value too high, you might get bad
results because points might be linked together
that are not related.)
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OPTIONS:
Close gaps in chained or ringed

scan positions
Activate this option if your scan positions are
organized as a ring or a chain.
Rename tiepoints
Selecting this option will rename the tiepoints with
the corresponding
name of the linked tiepoint.
Use existing link

If this option is activated, RiSCAN PRO will use
existing links to tiepoints/controlpoints to speed up
the process. You may also use this option if RiSCAN
PRO doesn't find the correct solution automatically
due to many reflectors.
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Please note:
Minimum 3
corresponding
points.
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Registration methode
COARSE REGISTRATION
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Coarse Registration Overview

Like the registration based on corresponding tiepoints you
can also do a coarse registration by temporarily defining
some (at least 4) corresponding points. (2D-/3D mode)
Corresponding points can be:
well known features like corners,
edges,
points with high reflectivity
between a dataset (a point cloud or a mesh) of a
registered scanposition (or the PRCS) and a dataset of the
scanposition to be registered.
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Coarse Registration
View A: reference data

(already registered)
View B: scanposition to
be registered
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Define corresponding points

in view A and view B.
To do so, hold down the
SHIFT key and left-click on a
point in view A. Proceed the
same way with the corresponding point in view B.
A small sphere with a label
showing the point number
represents the clicked point.
When the point pair is well

defined confirm the settings
by clicking the "+" button.
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Coarse Registration
If at least 4 point pairs are defined
you can click the button "Register".
Now the proper SOP matrix is
calculated and written to the
scanposition.
The object(s) of view B are
automatically added to view A.
The field "Standard deviation"
shows the quality of the registration
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Coarse Registration
Calculate origin of
scan position only:
If the orientation is already defined
by the internal inclination-sensors
and the internal compass, only the
origion of the scan position is
calculated, when activating this
option. In this case only one pointpair is necessary.
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Registration Coarse Registration (Result)
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BACKSIGHTING ORIENTATION
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Backsighting Orientation Overview

You can use this tool to register the scan
position using the well known coordinates of a
certain point (precisely surveyed point on the
ground, or exact coordinate from mounted
external GPS) and the coordinates of a remote
object.
The scanner must be either leveled manually or

with the optionally built-in inclination sensors.
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29
Overview 6-Degrees of Freedom

6-Degrees of Freedom:
3 Degrees of Freedom Translation (e.g. GNSS)
2 Degrees of Freedom Inclination Sensors
1 Degree of Freedom Backsighting / Heading
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Start wizard "Backsighting orientation:
Open the wizard "Backsighting orientation" by
right-clicking the SOP matrix of the scan
position and selecting "Backsighting
orientation...".
A wizard pops up requiring the input of the
scanners position coordinates
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Own GPS position:
On the first page enter the scanner's own
position in global coordinates.
The scanner's own position can be either:
global (e.g.: WGS84) or
local (e.g.: Mining System, with Projection)
ones.
"Instrument height":
Insert the vertical offset between the well known
ground point and the center of SOCS, indicated
at the scanner head.
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Own GPS position:
Read from file:

If you are using a GPS mounted on the scanner you
can import the coordinates by using a *.uda file
(Format: "Name,X,Y,Z"). Open the *.uda file and
select one entry (=position) from the list.
Read from scan :

Read out the GPS position which has been acquired
with the internal GPS receiver (L1).
Use GLCS tiepoint:

Known coordinates, measured with total station or
DGPS, of each position can be used which have
already been imported by user before running
Backsighting orientation.
Click on Next, when finished.
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Importing ASCII Grid Coordinates

Import local grid coordinates (measured with external
device, e.g. Totalstation, DGPS), which are normally
common with the targets that have been fine-scanned.
Your grid coordinates can be in various text-file formats,
with or without header.
The format is normally:
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Point_ID, E, N, H or
Point_ID, X, Y, Z.
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Module
Module33- Data
Data Registration
registration

Skip lines:
This causes the import function to ignore the
first n lines of the file (e.g. header)
Column separator:
is used to the correct character in order to

recognize the data columns from the file.
Column association:
Just drag the column from the list-box

showing all columns and drop it on the
corresponding column of the preview.
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Alignment
via remote object
against north
Enter the coordinates of a remote object in global

coordinates
(the GPS import via *.uda-file is also available)
The scanner should be aligned towards north
(switch to following page).

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Alignment - Angle
Use northing angle [deg]:

Based on measurements of the magnetic field
and detailed information of the internal GPS
receiver, the scanner calculates accurate northing
angle.
Use tiepoint (finescanned):

By using a finescanned reflector target, the
northing angle is automatically calculated from
the reflector position gained by the scanner.
Use inclination sensors OFFLINE

Activate, if you want to read the inclination
angles from an already acquired scan file.
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Summary
Summary
You can see a summary of the given data and the

used methods.
In this step you can still go back to one of the
previous pages in order to correct wrong settings.
Matrix
On the fourth page you can see a summary of the
given data and the calculated matrix. In this step
you can still go back to one of the previous pages in
order to correct wrong settings.
Click on Set SOP, when finished.
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MULTI STATION ADJUSTMENT

(MSA)
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MSA Overview
Multistation Adjustment (MSA) is a RiSCAN PRO tool, designed to improve
other registration methods such as Backsighting Orientation or Coarse
Registration.
Flat surface patches are detected within the pointcloud. These patches are
represented as a point, indicating the center of gravity of the plane patch,
and a normal vector on this point, representing the orientation of the plane
patch. The following alignment is based on a modified ICP algorithm (iterative
closest point algorithm).
To make use of this procedure, data must be pre-adjusted (using a prior
orientation method).
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MSA Prepare Data

To extract the plane patches from the scan
the option Prepare data is used.
Registration > MSA > Prepare data...".
This opens the

filter dialog.
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Module
Module33- Data
Data Registration
registration
MSA Prepare Data (Plane patch filter)
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MSA Prepare Data (Plane patch filter)

Plane patch filter:
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Maximum plane error [m]:

This parameter is used to decide whether a couple
of points represent, a plane patch or not.
It defines the threshold for the standard deviation
of residuals.
0.003 0.01 m for architectural applications
0.02 0.03 m for mining applications
Minimum number of poitns per plane:

A plane is calculated from at least this number of
points.
Minimum search cube size [m]:

Defines the threshold of the calculated
44
MSA Prepare Data (View)
Activate the point normals

to view the normal vector.
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MSA Prepare Data (View)
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MSA Start Adjustment
(Shortcut F4)
To start the Multi Station Adjustment select the

menu item
Registration > MSA > Start adjustment..."
The
MSA adjustment
tool will appear.
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The adjustment iteratively modifies the position and orientation of
each scan position until the error is below a user defined threshold.
If no control points are available you should lock the position and
orientation of at least one scan position (e.g. the scan position that
defines your PRCS).
You can also lock any of the 6 parameters separately with the
checkboxes in front of the parameters.
Identify and fix reference
scan position; other
positions will be oriented
to this position.
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There are several options to align scan positions:
Use tiepoints:
uses common tiepoints from the tiepoint list
(tiepoints must be linked between the scan
positions)
Use tieobjects:
manually created planes, stored within the
tie object list (TOL) of each scan position
and linked between the scan positions
Use polydata objects:

uses common planar surfaces
created during the data
preparation (Plane patch filter)
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Use measured scan positions:

can be used to tie the position to measured
coordinates (e.g. measured by GPS or
totalstation).
Limits adjustment of position by use of
measurement uncertainty (see sop-matrix)
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MSA Parameters
Nearest point search:
Mode:
All nearest points (recommended)
is a set of points containing the nearest points
of each remaining dataset.
One nearest point (fast)
searches for the nearest point in all datasets.
Search radius [m]:

defines the distance within the algorithm is
searching for corresponding plane patches
Max. tilt angle [deg]:

Max. tilt angle is used to remove incorrect point-pairs. Each point represents a
plane whereas each plane has a surface normal.
If the angle between the surface normals of two planes is smaller than the
maximum tilt angle then the two planes are considered to correspond.
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MSA Parameters
Adjustment:
Min. change of error 1 [m]:

If the improvement of the alignment between two
following iterations is less than the given value the
algorithm is stopping and searching for new corresponding planes. Then the alignment starts again.
Min. change of error 2 [m]:

The iterative alignment is running till the
improvement between two following iterations is less
than Min. change of error 2. In that case the final alignment is reached.
Outlier threshold:
When Min. change of error 2 has been reached, optionally outliers can be
removed and a final iteration for the alignment is calculated. The error histogram
should show a symmetric distribution (bell curve) around zero. An outlier
threshold of one, defines that all corresponding planes outside the one sigma
value of the error histogram are removed.
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MSA Parameters
Adjustment:
Calculation mode:
Least square fitting (recommended):
Using the square distance (of the point-pairs)
is taken, which means that outliers will have
a greater influence to the overall result.
Robust fitting: Using the absolute distance,
because this mode is more stable. It may take
more time because of smaller steps between the
iterations.
Once the data is aligned, there is not difference between calculation modes.
Update display:
You can watch the progress of the updates in a 3D view.
Available steps: never, seldom and often. (Recommended: never)
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MSA Analyse
After defining all parameters, click on Analyse.
The Analyse function will show a histogram and a polar plot of the
corresponding planes.
Histogram: shows the error distribution of the corresponding planes
Polar plot: Each plane is shown as a point, the positon of a point is
set by the normal vector of a plane which gives you the
orientation of all the used planes.
The wider the distribution of planes within the polar plot the more
robust the final alignment will be (minimum should be 3 clusters of
plane-orientation to cover the 6 parameters of freedom).
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MSA Analyse
Error (StDev) is
around 1m, with
around 500 planes.
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MSA Calculation
Recommended workflow:
Double the value of the
Error (StdDev) and set
it as Search radius.
e.g.: 1m 2m
Min change of error 1:
approx. 10cm
Min change of error 2:
approx. 1cm
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MSA Calculation
Start the calculation!
Take a look at the
Error (StdDev)
Polydata Objects
If the values of the
planes increase, it
means that the
alignment become
better and better.
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MSA Calculation
1st run has finished:
The MSA found much
more planes:
15.000 polydata.
The distribution of points
is even throughout the
polar plot and the
histogram displays a
steep bell curve.
Overall Error: 0.0066 m
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MSA Calculation
For 2nd run:
Repeat the same
steps as descirbed
before.
Now using a much

smaller search radius,
we also have to decrease
the values of the two
errors.
Calculate
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MSA Calculation
The 2nd run has finished:
The MSA found
even more planes:
22.000 polydata.
The distribution of points
is even throughout the
polar plot and the
histogram displays a
steep bell curve.
Overall Error: 0.0023 m
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MSA Final Result (View)
Mark points in
the point-cloud
and click on the
information
button.
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POSE Estimation
Combination Reflectors & MSA (Chain, Ring)
PRACTICAL EXAMPLES
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Practical Example
POSE ESTIMATION BY USE OF

GPS, INCLINATION SENSORS AND INTEGRATED COMPASS
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POSE Estimation Practical Example

This practical example shows the use of:
GPS
Internal measured GPS position. (quality of L1 receiver)
Inclination sensors
Levelling by use of inclination values
Integrated compass
Alignment of Scanners Own Coordinate System to true north
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POSE Estimation (Preparation)
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POSE Estimation (Indoor Measurement)

Special case:
For indoor measurements, the
GPS position has to be fixed
either with an
manual input or
GPS position from
previous position measured

outdoor
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Scans are
automatically registered
Read out the Information
for Roll / Pitch / Yaw
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POSE Estimation (Situation before)
Results from POSE Estimation:

Gaps between the scans are
caused by inaccuracies of
internal sensors (mainly GPS
and compass)
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POSE Estimation
After importing the scans
directly use MSA
1st step: Prepare data

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2nd step: Start adjustment

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POSE Estimation MSA 1st step
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POSE Estimation MSA 2nd / 3rd step
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POSE Estimation (Results after Running MSA)

Please note:
Accuracy of compass: typically 1 deg
(one sigma value for vertical scanner setup position)
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POSE Estimation MSA Calculation

MSA calculation after
2nd run:
Error (StdDev): 0.0023
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POSE Estimation SOP

SOP ScanPos01:
SOP ScanPos02:
SOP ScanPos03:
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POSE Estimation Checking Results

Analyse your MSA-calculation
by checking the results with
the information tool.
- show plane info
Please note:
StdDev. of
residuals to
estimated plane
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Practical Example
COMBINATION
COARSE REGISTRATION & MSA
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After using registration mode:
Coarse registration
directly use MSA
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1.
Prepare data
2.
Run MSA
81

Situation before:
By analysing a large
number of points
(~5.500), we get to a
result of
StdDev: 0.078 m
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82

Analyse:
After preperation of the

dataset, run the Analysetool in the MSA.
The MSA found around
43.000 polydata objects.
Error (StdDev): 0.0130 m
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Final result:
One run is enough to fit all

pointclouds together.
The MSA found around
17.000 polydata objects.
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84

Situation after:
By analysing a large
number of points
(~5.500), we get to a
result of
StdDev: 0.003 m
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85
Practical Examples
COMBINATION
REFLECTORS & MSA
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Chain of Scan Positions

1st step:
Register SP1 and SP6 by using

controlpoints.
2nd step:
Register SP2 onto SP1 & SP5 onto SP6
3rd step:
Link SP3 and SP4 together.
The deviations between SP3 & SP4 will
be higher than within the other scan positions.
To do so run "Find corresponding points" for SP4 again, select only
SP3 and activate "Close gaps in chained or ringed scan positions".
Please note:
Only links between the tiepoints
of SP4 and SP3 are created.
The SOP-matrix is not affected!
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Ring of Scan Positions

1st step:
2nd step:
3rd step:
Controlpoints are available at

scan position SP1.
There will by a higher deviation
between SP5 and SP1.
Run "Find corresponding points" for SP5 again, select
SP1 and activate "Close gaps in chained or ringed scan
positions".
Please note:
Only links between the tiepoints
of SP4 and SP3 are created.
The SOP-matrix is not affected!
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Chain Practical Example

After using registration mode:
Find corresponding points by use of
Close gaps in chained or ringed scan position
Follow the steps described

on slide 86. Thereafter
directly run MSA and use only
teipoints as input data.
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Adjust ScanPos:
- Lock ScanPos001
- Lock ScanPos009
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Analyse:
After adjusting the
scanpositions, run the
analyse-tool in the MSA.

by using 42 tiepoints
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Calculation:
In this case MSA is doing a
bundle adjustment on the
whole chain or ring of scan
positions.
by using 38 tiepoints
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92
Training Material for RIEGL VZ-XX

PRELIMINARY VERSION
End of Module 3
Data Registration
RIEGL Laser Measurement Systems GmbH

3580 Horn, AUSTRIA
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Training Material for RIEGL VZ-XX

RIEGL Laser Measurement Systems GmbH

Module 3 Data Registration

Coordinate Systems and Transformations

Module 3 Data Registration

Module 3 Data Registration

Module 3 Data Registration

... Scanners orientation

... Project coordinate systems

Module 3 Data Registration

Module 3 Data Registration

Module 3 Data Registration

Module 3 Data Registration

Module 3 Data Registration

Registration by Use of Reflectors

Module 3 Data Registration

Module 3 Data Registration

Find Corresponding Points

Module 3 Data Registration

Find Corresponding Points

Minimize Error (Default) - Recommended

Module 3 Data Registration

Find Corresponding Points

Module 3 Data Registration

Find Corresponding Points

Close gaps in chained or ringed

Use existing link

Module 3 Data Registration

Find Corresponding Points

Module 3 Data Registration

Find Corresponding Points

Module 3 Data Registration

Module 3 Data Registration

Coarse Registration Overview

Module 3 Data Registration

Module 3 Data Registration

View A: reference data

Module 3 Data Registration

Define corresponding points

When the point pair is well

Module 3 Data Registration

Module 3 Data Registration

Module 3 Data Registration

Registration Coarse Registration (Result)

Module 3 Data Registration

Module 3 Data Registration

Backsighting Orientation Overview

The scanner must be either leveled manually or

Module 3 Data Registration

Overview 6-Degrees of Freedom

Module 3 Data Registration

Module 3 Data Registration

Module 3 Data Registration

Read from file:

Read from scan :

Use GLCS tiepoint:

Module 3 Data Registration

Importing ASCII Grid Coordinates

Module 3 Data Registration

Importing ASCII Grid Coordinates

Importing ASCII Grid Coordinates

is used to the correct character in order to

Just drag the column from the list-box