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Case Studies and Field Use of 3D Terrestrial Laser

1. M Brief 3D Laser Scanner Overview aussissa IBluWzulIIT T M Laser Scanning Survey General Workflow eee eee eee eee eee e eee ettet eee aaa Chapter 2 Laser Scanner Survey Training and Deployment Summary Laser Scanning Survey and Point Cloud Post processing Training Deployment SUUS oe ede Nani ii New Deliverable PossIDIDIIes esee escono aee nea ua nennen besseres Deployment Challenges Lessons Learned 222222000000000000000000000000000000000000000000000000 Future VV OR dee OGON KE WA Referente iei ee ioi der ui pusieron s Appendix A Laser Scanning Survey Planning and Execution Laser Scanning Survey General Workflow eee ee eee eee eee eee e eee ette eaae eaae Planning for a 3D Laser Scanning Survey ccce ee eee eee eee ette eese eese es ssssssssus SCAN e Phase w L Introduction to Cyclone Navigator ccce eee ee e eee eee eee ee eee eaae ette esee sess eee e eese eee aos Edit C vclone Preferences see eier elle Adding a Database in Cyclone Navigator for Existing or New Data Configure Scanner in Cyclone Navigator 0 0000ss0000000000000sssnnunnnnnsssssssssnsnnnnsssssssssssene Step 1 ScanStation 1
2. Display License Bl Traffic way License Manager 087 35b rnc Die M A SHORTCUTS About Cyclone SCANNERS HP Dummy Scanner CyelonevlEWEF Don t ask me again Check Usage Cancel Configure the licenses obtained by Cyclone at b po a Figure 14 License manager Edit Cyclone Preferences Cyclone default installation preferences may not match with the Caltrans user preferences For example default units are metric To change default preferences 1 Left click on Edit in Cyclone Navigator window and left click on Preferences as shown in Figure 15a 2 Left click on the pull down menu on the top right corner of the Edit Preferences window and select Default as shown in Figure 15b The default selection 1s Session 3 Left click on Unit tab in the Edit Preferences window and left click on Linear Units as shown in Figure 15b Then left click on feet or other desired unit of choice if feet are the units selected make sure that the Imperial Type 1s set to U S Survey in the next selection box as shown in Figure 15c U S Survey Feet are by law the official type of foot unit to use in California 4 Left click on Apply or Ok button at the bottom to save the changes as the default 23 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects E Cyclone Navigator ma Il xl File Edit
3. IP Address 10 1 100 130 LK Cancel Figure 17 Add a new scanner c d e To make the scanner invisible in the Cyclone Navigator window left click on the y next to the scanner IP address in the Configure Scanner window Figure 17d This operation helps reduce the clutter in the Cyclone Navigator window To make the scanner visible 27 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials again left click on the empty square box next to the scanner IP address Configure Scanner window e To remove a particular scanner in Cyclone Navigator permanently left click on the Remove button in the Configure Scanner window after highlighting the scanner by left clicking on the scanner name under the scanner column pF sa T je m EC Y u j hri en ad fs vi lai ze ScanStation IP address Figure 18 Scanner IP address location 28 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials Step 1 ScanStation 1 and ScanStation 2 setup ScanStation and ScanStation 2 setup is very similar to a Total Station The user can use known backsight resection or traverse methods to geo reference each scan setup Traverse is not recommended for pavement surveys
4. STATE OF CALIFORNIA DEPARTMENT OF TRANSPORTATION TECHNICAL REPORT DOCUMENTATION PAGE TR0003 REV 10 98 formats For individuals with sensory disabilities this document is available in alternate For information call 916 654 6410 or TDD 916 654 3880 or write Records and Forms Management 1120 N Street MS 89 Sacramento CA 95814 ADA Notice 1 REPORT NUMBER 2 GOVERNMENT ASSOCIATION NUMBER CA09 2056 3 RECIPIENT S CATALOG NUMBER 4 TITLE AND SUBTITLE Accelerated Project Delivery Case Studies and Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials 5 REPORT DATE 02 28 2009 6 PERFORMING ORGANIZATION CODE 7 AUTHOR Kin S Yen Kevin Akin Bahram Ravani and Ty A Lasky 8 PERFORMING ORGANIZATION REPORT NO UCD ARR 09 02 28 02 9 PERFORMING ORGANIZATION NAME AND ADDRESS Advanced Highway Maintenance and Construction Technology AHMCT Research Center UCD Dept of Mechanical amp Aerospace Engineering Davis California 95616 5294 10 WORK UNIT NUMBER 11 CONTRACT OR GRANT NUMBER IA 65A0275 Task ID 2056 12 SPONSORING AGENCY AND ADDRESS California Department of Transportation PO Box 942873 MS 83 Sacramento CA 94273 0001 13 TYPE OF REPORT AND PERIOD COVERED Final Report July 2008 February 2009 14 SPONSORING AGENCY CODE Caltrans 15 SUPPLEMENTARY NOTES 16 ABSTRACT
5. Setup scanner See ScanStation 2 manual for detailed instructions 1 2 6 4 Setup the dual clamp tripod as high as possible Tighten all the tripod screws and lever clamps and place sand bags on each tripod leg Setup and level the tribrach Gently set the ScanStation 2 on the tribrach and lock it in place by flipping the tribrach locking lever Unlock the ScanStation by pulling out and rotating counter clockwise the scan head locking lever located at the back of the scanner as shown in Figure 19 The ScanStation 2 will not boot up with lock engaged Top window cover ScanStation bubble level Quick Scan set button ScanStation head Ethernet connection locking lever Tr brach locking lever gOS connection Dual power i _A Figure 19 ScanStation feature layout Remove scanner window cover S Plug in power cable s Turn on batteries and or plug in AC adapter The ScanStation 2 takes 3 to 5 minutes to boot up Plug in network cable 29 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials 10 Measure the station height HI as shown in Figure 20 11 Setup Twin Target Pole s on the control point s Front window Station height HI measurement mark Figure 20 Measuring scanner height HD Step 2 to 7 Performing Scan Notebook computer setup NO R B
6. Local Area Connection 2 dhcp echo Done Pause 39 Copyright 2013 AHMCT Research Center UC Davis Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials APPENDIX E TROUBLESHOOTING NETWORK CONNECTION PROBLEMS WITH SCANSTATION 1 OR SCANSTATION 2 e Check if the CATS network cable is connected at both ends notebook and scanner Some network cable connectors have become worn on the ScanStation 2 and the weight of the cable pulled the plug down causing connection loss e Check to see if the light at the network connector is illuminated o If not check for physical damage on the cable and connector o Re insert the connector into the scanner and computer to check for poor connection o Replace the CATS cable o Re check the LED light next to RJ45 connector to see if it is on e Check if the RDY indicator light on ScanStation center LED is on green e If not o Is the ScanStation ScanStation 2 power on o Ifthe RDY light is blinking yellow check to see if the scanner is unlocked o Ifitis not unlocked power down the scanner unlock it and then power it on o Ifitis unlocked wait for the RDY light to go green e Ifthe RDY indicator light on ScanStation center LED is on green then check the computer setting o Move mouse to Start gt Run type CMD to launch a command prompt o Type ipconfig at
7. 65 m 75 m max from scanner Extra target for QA QC Equipment Checklist See Appendix F Weather forecast check rain wet pavement snowing fog Figure 12 ScanStation 2 package 20 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials To Do list before going to the field Confirm that the one time configuration of the ScanStation 2 has been performed using Cyclone Navigator as discussed below Locate all equipment on the equipment list Fully charge batteries o ScanStation batteries 2 or more o Panasonic Toughbook recommended or other notebook computer batteries 2 Fuel for generator Standard safety equipment including hard hats safety vests safety goggles boots water etc Voice radios Check weather forecast for rain wet pavement snow high winds and fog Scanning Phase Scanning phase work includes setup and break down of the hardware as well as operating the Cyclone scanning software to acquire all the necessary data for post processing This section provides some basic Cyclone setup information It is supplemental to both the Leica Geosystems High Definition Surveying Basic Training Manual and the High Definition Surveying Intermediate Training Manuals If you are a Caltrans surveyor please contact Kevin Akin kakin dot ca gov Generally laser scanning using a ScanStation 2 herein ScanStation
8. Host Configuration Protocol DHCP double click on ipchange_to_dynamic bat These batch files are ASCII text files with bat file extension the contents of the batch files are shown below With most laptops you would use the network_ip_to_scanning_ip bat file to change the IP address setting for connecting to ScanStation 2 Note that the Toughbook CF74 that we have for ScanStation 2 has a slightly different network setting the 10 100 1000baseT Ethernet appears as Local Area Connection 2 instead of Local Area Connection as on most laptops In some laptops the Local Area Connection is taken up by the Bluetooth network or other network adapters In this case the wired LAN 1s associated with Local Area Connection 2 and the user should use network2ip to scanning ip bat instead network2ip to Dynamic bat changes the network setting back to DHCP If you are an experienced user you can use ipconfig all on the command prompt to see the network settings Alternatively you can go to network properties to see the setting changes made by the batch file The same discussion is relevant for changing the settings back from scanning setup to dynamic DHCP settings in terms of the wired LAN name The only difference in the files 1s the entry for the wired LAN name network ip to scanning ip bat file contents echo off echo Configuring wire network connection for ScanStation to following settings echo IP Address 10 1 100 100 SMask 255 2
9. This report documents the AHMCT research project Accelerated Project Delivery Case Studies and Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials This work continued AHMCT s Phase I efforts 8 The report body provides motivation and background information for fixed 3D terrestrial laser scanning along with the details for Caltrans District training and deployment The report appendices provide in depth material suitable for use in future Caltrans training deployment and on going use of 3D laser scanning including planning and scanning field work point cloud registration point cloud post processing scanner setup and troubleshooting and an equipment packing list 17 KEY WORDS 3D Laser Scanning Accuracy Precision Resolution LIDAR Surveying Design Training Deployment TLS 18 DISTRIBUTION STATEMENT No restrictions This document is available to the public through the National Technical Information Service Springfield Virginia 22161 19 SECURITY CLASSIFICATION of this report 20 NUMBER OF PAGES Unclassified 21 COST OF REPORT CHARGED 61 icht 2013 A TR h t j CODE Ent Z0 LOS BEIM RESET ener Ue Ren duction of completed page authorized DISCLAIMER STATEMENT This document is disseminated in the interest of information exchange The contents of this report reflect the views of the authors who are responsible for the facts and ac
10. US 101 v 5 Indian Historical Site T Los angeles en a Long Beach M N Mast Bivd at SR Szy 805 at SR a MON a Figure 3 Map of Caltrans laser scan projects Some District 4 surveyors previously received training from Leica Geosystems in conjunction with Caltrans evaluation of an HDS 2500 laser scanner AHMCT provided District 4 with technical support and updates on the latest best practices and recommended workflow Since then District 4 surveyors used ScanStation laser scanners in a few pilot studies They used AHMCT s ScanStation in two projects related to the new Bay Bridge detour construction In addition District 4 scanned the V bar of the main bridge column of the new SF Oakland Bay Bridge These jobs were made easier safer and faster using a laser scanner vs Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials traditional survey methods The use of a laser scanner in these projects allowed District 4 surveyors to prove to their management the value and effectiveness of the laser scanner as a survey instrument As a result District 4 secured funding to purchase a ScanStation 2 and Cyclone software licenses They have successfully deployed the ScanStation 2 and performed numerous scans on new and old Bay Bridge structures and other project sites as shown in Figure 5 Currently District 4 is using
11. an exceptionally accurate and detailed 3D Computer Aided Design CAD model Consequently model information such as relative angle and length dimensions can be extracted from the resulting 3D surface CAD model Some of the data available with 3D laser scanners are difficult or impossible to measure using traditional surveying instruments Traditional survey instruments e g Total Station and Digital Level are limited to locating one point at a time In the traditional survey process surveyors particularly the rod person are often exposed to all manner of environmental hazards including walking across the roadway exposed to high speed traffic climbing steep slopes and standing close to high speed traffic or other unsafe areas to place the prism or rod The use of reflectorless Total Stations has improved safety but measurements taken with large incidence angles to surfaces can be inaccurate Other DOTs and private contractors have used laser scanning in highway survey applications and found that it reduces the need for lane closures decreases the risk of injuries and increases productivity 4 7 The resulting detailed 3D model allows engineers and surveyors to extract all the required data in the office decreasing or eliminating the need for surveyors to return to the site for additional measurements Using 3D laser scanners can dramatically improve safety and efficiency over current survey methods and can produce a better product In related
12. existing and new scan Cata ccccccccccccccccccccccscccccscscscccsscssccscsccssssssssssssssssssesecs 26 Figure 17 Add anew Scanner re ans Re lese leisen ee 27 Fipure 15 Scanner IP address II ah MW au i Ed eee cete ea 28 Figure 19 seanStation feature layout 5 iiid een 29 Figure 20 Measuring scanner height HI euere essen 30 Fig re 21 ScanStation orientation definition u seien a alas aiaiai 32 vii Copyright 2013 AHMCT Research Center UC Davis Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials LIST OF TABLES Table 1 Caltrans district laser scanning survey training dates for both Phase I and Phase II projects 1X Copyright 2013 AHMCT Research Center UC Davis Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials DISCLAIMER DISCLOSURE The research reported herein was performed as part of the Advanced Highway Maintenance and Construction Technology AHMCT Research Center within the Department of Mechanical and Aerospace Engineering at the University of California Davis and the Division of Research and Innovation at the California Department of Transportation It is evolutionary and voluntary It is a cooperative venture of local State and Federal governments and universities The conte
13. fig 08135b ji SHORTCUTS SCANNERS m Jl Dummy Scanner e Traffic way Open the Configure Databases dialog to manage the Cyclone databases 4 b a G Create Select a Cyclone DB Look in E test ae My Recent Documents Desktop My Documents Database Mame r Database Filename ES My Computer Add Database EC Lx mro File name test imp v Oper Cancel DM p Files of type Cyclone DB imp z Can d c cel 7 2 Configure Databases on BRAIN unshared xl serve BRAIN unshared Databases A Traffic Wary 081356 Remove Destroy Compact Add Database Database Name test Optimize Admin Logit dii Database Filename JE datatpoint_cloud_datattestte EJ OF 1 Cancel Close f Figure 16 Adding a database for existing and new scan data e 26 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials Configure Scanner in Cyclone Navigator The user must add the scanner in Cyclone Navigator before connecting to it for scanning Users must perform this operation once per notebook computer per scanner Typically Caltrans ScanStation 2 scanners are paired with a dedicated laptop Thus this operation may not be required as it likely will have occurred during initial setup and deployment
14. or ScanStation 2 setup cccccccsssssssssscccccsssssssssscccssscesssssscccoses step 2 to 7 Performing Scan ni IR Appendix B Cyclone Registration ccccccccsssssssssssssssssssscccccccccccccccccccssssssssssssseeeeeeceeees Typical Registration Ste ps en de eee esa peo ceo era Ra ie Tips in Identifying and Fixing Registration Errors 222220000000000000000000000000000000000000000 Appendix C Point Cloud Post processing Training Topics eere eee eene Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials Appendix D Network Settings of the Laptop that Will Control the ScanStation I or COTES ON 2 se NR NC 37 Perf6orm Manual Chang MUN 37 Using a Pre configured Batch Dat Files oo See ee ea eu aee Ea eS ee naue eaa dodawac 38 Appendix E Troubleshooting Network Connection Problems with Scanstation 1 or SCAN TAUON LUN M EOC ET PT O ACE OOO OOOO CA 41 Appendix F Laser Scanning Equipment Package List ccce ecce eese e eese eene eee eene nnn 43 MEMS aus nee eis NT Hn b dun 43 Appendix G Honda EU2000i Generator Usage Instruction eeeeeeeeeeee 45 Starting and Stopping Generator and Generator Maintenance 2222000000000000000000000000000000 45 vi Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrest
15. out the Cyclone MODEL license thus leaving Cyclone REGISTER for others to use This is critical if the number of licenses is small Configure the licenses to be checked out for the session 1 Left click on Help in Cyclone Navigator window and Left click on License Manager as shown in Figure 14a 2 If Yes appears in the Available column of the Cyclone License Manager Figure 14b the License is available to the users to use The v in the Use column in the middle indicates that the particular module license will be checked out during the current session and thus unavailable to other users 3 To disable or deselect certain licenses and make others available left click the v in the Use column next to the module license the W will disappear Now left click on the OK button to close the Cyclone License Manager window 4 The user must exit and restart Cyclone Navigator for the changes to take effect 22 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials Cyclone Navigator E B x 6 Cyclone License Manager X License Cyclone MODEL Cyclone SURVEY Cyclone SCAM File Edit View Configure Create Tools Help JE read Ti Ealf Contents Defect Report User Feedback _yclone REGISTEF Cyclane PLUBLISHER Cyclone SERVER
16. research 3 the California Department of Transportation Caltrans Office of Land Surveys OLS and the Advanced Highway Maintenance and Construction Technology AHMCT Research Center evaluated several terrestrial laser scanning systems including hardware software and overall workflow 2 The research project also produced a set of recommendations on laser scanning workflow quality assurance quality control QA QC procedures usage guidelines and data exchange methods Since then Caltrans has purchased three Leica ScanStation 2 and one ScanStation C10 laser scanners as well as licenses of Leica Cyclone and Trimble RealWorks Survey point cloud post processing software In support of Caltrans deployment of this new technology AHMCT researchers developed laser scanning survey instructional materials and conducted training classes with Caltrans surveyors to promote consistent and correct use workflow controls setup and QA QC process of 3D laser scanners throughout Caltrans Along with motivation and background and a record of AHMCT s Caltrans district training and deployment activities this research report contains a collection of instructional material developed under this research contract along with related materials from other sources Separate from this research Leica Geosystems has developed a comprehensive I Note that throughout this report trademarks and copyrights are property of their respective owners and are omitted for
17. two ScanStation 2 scanners extensively on the Doyle Drive project Over sixty historical buildings and landmarks in the Presidio area were scanned This high profile project is currently the largest use of laser scanners in Caltrans With the addition of ScanStation C10 the data collection process and speed have been improved Figure 4 Night scanning of the old Bay Bridge for the design and construction of the new Bay Bridge detour Ph ie au E E A pier1 Cy 60 Old bay bridge rowerze a E Old bay bridge shearpings wi ra 3 P sd n P B lt d D DUE un i 9 A_ S8Oitruckipassing jane dr X cz P DY Devil Slide er Figure 5 Map of District 4 laser scanning projects Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials The deployment training in District 6 was the first laser scanning survey training class conducted by AHMCT and Caltrans Headquarters under Phase I The training structure was slightly different from the above description The training was split into field crew training and point cloud post processing training For four days over ten District 6 surveyors were taught to use the ScanStation l to collect data in the field at Highway 99 and Avenue 12 At the same time a different group of surveyors were taught to use Cyclone in the office The Highway 99 pavement was freshly pav
18. type of technology is similar to that used in Total Stations However the difference in measurement rate between 3D laser scanners and Total Stations is tremendous Typical Total Stations may measure up to eight distances per second In contrast the 3D laser scanner is capable of measuring up to 50 000 distances per second as of this report with speed increasing for emerging commercial systems In phase based measurement technology the phase difference s measured between the reflected beam and the transmitted amplitude modulated continuous wave laser beam The target distance is proportional to the phase difference and the wave length of the amplitude modulated signal In addition the amplitude of the reflected beam provides the reflected signal strength Phase and TOF optical signals f j Signal power 0 5 0 01 02 03 04 05 06 07 08 09 1 time Figure 1 Working principle of phase based and time of flight 3D laser scanners Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials Typically phase based scanners are capable of achieving a much higher number of point measurements in a second relative to time of flight scanners their point measurement rate is from about five to one hundred times greater Phase based scanners however have a shorter useful range typically 25 100 m Time of flight scanners can prov
19. way of its wired LAN Local Area Network port Typically for office use laptops are often pre configured for dynamic IP Internet Protocol setting 1 e using DHCP To communicate with the ScanStation 2 the laptop s IP settings must be changed as noted below in Perform Manual Changes The setting changes can be done manually or by using the provided pre configured batch files Perform Manual Changes 1 Right click on Local Area Connection some computers may use Local Area Connection 2 or higher and select left click Properties 2 Left click on Internet Protocol TCP IP and then left click on the Properties button as shown in the figure below General Advanced Connect using HB Broadcom NetXtreme 57xx Gigabit C This connection uses the following items E Client for Microsoft Networks s File and Printer Sharing for Microsoft Networks N QoS Packet Scheduler SKK K Internet Protocol TCP IP Install Uninstall Properties s Description Transmission Control Protocol Internet Protocol The default wide area network protocol that provides communication across diverse interconnected networks Show icon in notification area when connected IV Notify me when this connection has limited or no connectivity 3 Enter 10 1 100 100 as IP address 255 255 0 0 as Subnet mask and 10 1 1 1 as Default gateway Leave DNS server blank as shown in
20. 2 indicates either ScanStation or ScanStation 2 has the following steps m 2 3 4 5 6 1 8 9 Setup and power up the Leica ScanStation 2 Power up the notebook computer and connect the Ethernet cable from the notebook computer to the ScanStation 2 Run Cyclone SCAN to Connect to ScanStation 2 Check to see if the dual axis level compensator is on and within range Scan the area of interest Acquire the registration target s measure station height HI Height of Instrument calculate the registration errors and apply the registration Disconnect the scanner within Cyclone Break down the ScanStation 2 setup and move to the next setup location Repeat setup to 8 The details of each step can be found in this appendix or Leica Geosystems High Definition Surveying Basic Training Manual sections and 2 21 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials Introduction to Cyclone Navigator Cyclone is Leica Geosystems HDS software composed of several modules including Cyclone SCAN Cyclone REGISTER Cyclone MODEL Cyclone PUBLISHER CloudWorx for MicroStation Cyclone II TOPO Cyclone VIEWER Pro and other modules that Caltrans does not currently use Each module requires its own license and the license file license dat or lic is located in the Cyclone installation
21. 2 Overall workflow Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials CHAPTER 2 LASER SCANNER SURVEY TRAINING AND DEPLOYMENT SUMMARY Laser Scanning Survey and Point Cloud Post processing Training In this research project AHMCT researchers provided technical support training and training materials in conjunction with Caltrans OLS Headquarters surveyor Kevin Akin Typically the training class lasted four days Day one focused on job planning control setup hardware setup and using the ScanStation to acquire data with the Cyclone SCAN module and the external camera kit Trainees received hands on experience in using the software and in hardware setup to scan a parking lot in the afternoon of the first training day In the morning of the second day of training after reviewing previous training material trainees practiced laser scanning in the field The field practice session can be carried out on other training days if the weather is not appropriate for scanning Day two training includes point cloud registration QA QC and troubleshooting of registration problems in the afternoon of the second day In the beginning of third day of training point cloud registration steps are reviewed After that trainees practice point cloud registration and solving common registration problems Instruction on point cloud data extraction with Cycl
22. 55 0 0 echo Gateway 10 1 1 1 echo Please wait IP is now being set to STATIC netsh interface ip set address name Local Area Connection source static addr 10 1 100 100 mask 255 255 0 0 netsh interface ip set address name Local Area connection gateway 10 1 1 1 gwmetric l echo off pause network2ip_to_scanning_ip bat file contents echo off echo Configuring Network Connection 2 IP address for ScanStation Connection echo IP Address 10 1 100 100 SMask 255 255 0 0 echo Gateway 10 1 1 1 echo Please wait IP is now being set to STATIC netsh interface ip set address name Local Area Connection 2 source static addr 10 1 100 100 mask 255 255 0 0 netsh interface ip set address name Local Area connection 2 gateway 10 1 1 1 gwmetric l echo off pause 38 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials ipchange_to_dynamic bat file contents echo off echo Setting your IP Address back to Dynamic DHCP echo Please wait IP is now being set to DYNAMIC HOST CONFIGURATION PROTOCOL DHCP netsh interface ip set address Local Area Connection dhcp echo Done Pause network2ip_to_Dynamic bat file contents echo off echo Setting your IP Address back to Dynamic DHCP echo Please wait IP is now being set to DYNAMIC HOST CONFIGURATION PROTOCOL DHCP netsh interface ip set address
23. To add a scanner in Cyclone Navigator 1 Left click on Configure in Cyclone Navigator window and left click on Scanners as shown in Figure 17a 2 Left click on the Add button in Configure Scanners as shown in Figure 17b 3 Select the scanner model using the pull down menu next to the Scanner Model field in the Add Scanner window as shown in Figure 17c Next enter a unique scanner name in the Scanner Name field and enter the unique IP address of the Scanner in the IP Address field The scanner s unique IP address is labeled on the base of the scanner next to the serial number see Figure 18 For Caltrans the IP should start with 10 1 Left click on the OK button to close the Add Scanner window 4 Finally left click on Close button to close the Configure Scanners window 2 Cyclone Navigator Bm x File Edit View Configure Create Tools Help Servers Databases e Configure Scanners E X Scanner __ Morel__ actress d Dummy Scanner ScanStation 0 0 0 0 BRAIN unshared B Traffic waj i f 081 35b Be a SHORTCUTS B a SCANNERS bee JA Dummy Scanner Open the Configure Scanners dialog to add remove and edit scanners 1 2 a b 6 Configure Scanners IP Address Dummy Scanner Scanstation 0 0 0 0 Caltrans Scanner 2 ScanStation 2 10 1 100 130 mE 6 Add 5canner x Scanner Model ScanStation z Scanner Mame Caltrans Scanner 2
24. View Configure Create Tools Help Und Reda Gear UndolR Edo faut Copy Paste SA Paste Reference Paste Link Delete Rename Add Edit Annotations Customize Lookup Lists Import Customizations G Edit Preferences i x Phase II Additional Training and Materials Modeling ModelSpace Scan Point Cloud Initialization Level Units Resolution Measurements Registration Fitting Default Session R Linear Units Feet Architectural Feet Inches gt Imperial Types U S Survey Export Customizations Pressure Units Millibar Linear Units for LAS Exchange Meters Customize Hotkeys Customize Toolbars Object Preferences Preferences Open the Edit Preferences digkog to edit user preferences a 4 b Edit Preferences Modeling ModelSpace Scan Point Cloud Initialization Level Units Resolution Measurements Registration Fitting s nM Defauls Imperial Types U S Survey English Station Notation No A4lignment Offset Notation amp ngular Units Degrees Temperature Units Fahrenheit Pressure Units inches of Mercury 0 C Coordinate Labels x Y Z Linear Units for LAS Exchange Meters c Figure 15 Cyclone preferences Adding a Database in Cyclone Navigator for Existing or New Data Cyclone stores all data control points LiDAR p
25. an enable new types of deliverables A 3D laser scanner can produce a dense point cloud of an object The point cloud can then be converted to a mesh surface model and a 3D printer can use this model to create a plastic scale replica of the object Figure 10 illustrates the general concept The top image is a snapshot of a point cloud generated from scanning a historically significant American Indian site The middle image is the computer generated mesh surface model derived from the point cloud The bottom 11 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials image is the final plastic model created by a 3D printer The model gives archeologists a better understanding of the site and a tool to effectively communicate to others about the site Another new deliverable is a 3D Portable Document Format PDF file which makes 3D laser scan point cloud easily viewed by those without CAD or point cloud processing software Previously CAD models generated from survey data could only be easily viewed in CAD software Thus the end users data customers needed CAD software installed on their computer to view the CAD model In addition they had to learn to use the CAD software package Now Adobe has enabled CAD models to be embedded into a PDF file allowing users to view and interact with CAD models using a free PDF reader Furthermore the cur
26. brevity Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials and detailed Cyclone software manual Thus the training materials in this report are supplemental to the Leica Cyclone beginner and intermediate manuals In addition this report provides detailed status of the current 3D laser scanning training and deployment in Caltrans districts as well as district personnel feedback on the use of the equipment Brief 3D Laser Scanner Overview The ground based or terrestrial 3D laser scanner is a recently developed instrument that uses advanced laser measurement technology capable of obtaining thousands of point measurements per second 3D laser scanners of interest for highway operations use either the Time of Flight TOF measurement method or phase based measurement to obtain target point distance see Figure 1 Time of Flight measurement technology is based upon the principle of sending out a laser pulse and observing the time taken for the pulse to reflect from an object and return to the instrument Advanced high speed electronics are used to measure the small time difference and compute the range to the target The range is combined with high resolution angular encoder measurements azimuth and elevation angles to provide the three dimensional location of the point The electronics also determine the reflected signal strength This
27. curacy of the data presented herein The contents do not necessarily reflect the official views or policies of the State of California or the Federal Highway Administration This publication does not constitute a standard specification or regulation This report does not constitute an endorsement by the Department of any product described herein For individuals with sensory disabilities this document is available in Braille large print audiocassette or compact disk To obtain a copy of this document in one of these alternate formats please contact the Division of Research and Innovation MS 83 California Department of Transportation P O Box 942873 Sacramento CA 94273 0001 Copyright 2013 AHMCT Research Center UC Davis AAHMCT Advanced Highway Maintenance and Construction Technology Research Center Department of Mechanical and Aerospace Engineering University of California at Davis Accelerated Project Delivery Case Studies and Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Field Use Kin S Yen Kevin Akin Bahram Ravani amp Ty A Lasky Principal Investigator Report Number CA09 2056 AHMCT Research Report UCD ARR 09 02 28 02 Final Report of Contract 65A0275 Task ID 2056 February 28 2009 California Department of Transportation Division of Research and Innovation Copyright 2013 AHMCT Research Center UC Davis Copyright 2013 AHMCT Research Ce
28. d new workstations for point cloud post processing however lead time was long In addition these district users found that large time and resource investment 1s required to learn this new tool Based on user feedback Caltrans Headquarters Leica Geosystems and AHMCT researchers continue to take steps to mitigate these deployment challenges New powerful workstations dedicated for point cloud post processing are now available to some District surveyors in their offices Leica Geosystems continues to add new software tools automated and semi automated and better workflow documentation to simplify data extraction Revised or new software and hardware will better address these deployment challenges Still the districts must find or cultivate data extraction personnel who enjoy working at a desk possess great computer skills are detail oriented understand the final deliverables and are able to work independently and 13 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials accomplish a task to achieve successful deployment of this new tool Finally the 3D laser scanning field crew size must be small for an efficient operation Through this deployment process we found that suitable projects for 3D laser scanning are rock slides steep embankments bridge structures and historical preservation Pavement survey is often better done with
29. d products available from TLS technology in revised workflows e Some field crews say they can produce the traditional deliverables faster with conventional methods Successful TLS Deployment and Overcoming Some of the Obstacles By reasonable measures District 4 enjoys the most successful deployment They have done more projects with 3D laser scanning than other districts Their customer feedback has been positive In some cases Caltrans and AHMCT have generated interest in more extensive laser scanning use District 4 has had two dedicated surveyors working with 3D laser scanners for over four years Their dedication and experience and support from management are vital to overcome the types of difficulty encountered by users in Districts 6 and 11 In addition many of their projects involve urban environments with complex scenes and large construction projects which are well suited for 3D laser scanning while making survey with traditional methods difficult District 6 and District 11 surveyors are comfortable with data acquisition in the field with the ScanStation However they find that post processing 1s difficult and time consuming to extract data for final deliverables This is in part related to their current computers most of which are inadequate to handle these massive point cloud data Thus the software runs very slowly and crashes often leading to user frustration Their workstations should be upgraded Caltrans Headquarters procure
30. ed and refined by AHMCT researchers These materials are located in the appendix Training material from other authors and organizations can be found at AHMCT s Laser Scanning Resources Website http hardhat ahmct ucdavis edu mediawiki index php LaserScanResources In addition Kevin Akin produced a detailed documentation of workflow using Cyclone Virtual Surveyor to extract data for import into Autodesk CAiCE Furthermore Leica Geosystems created two training manuals High Definition Surveying Basic Training Manual and High Definition Surveying Intermediate Training Manual in addition to various application notes videos tips and tricks available through AHMCT s Laser Scanning Resources Website Deployment Status In support of the Caltrans Office of Land Survey deployment of laser scanning technology AHMCT procured a Leica Geosystems ScanStation and Cyclone software licenses Since then Caltrans OLS purchased two Leica Geosystems ScanStation 2 scanners and two Cyclone Model and Register licenses District 4 purchased a ScanStation 2 and two sets of Cyclone Model Publisher and Register licenses The goal is to have one mid range laser scanner each for the northern and southern California regions Since 2007 Caltrans surveyors have performed over 20 projects using laser scanning technology as of this report date as shown in Figure 3 In 2010 Caltrans procured a Leica C10 a new generation of fast mid range laser scanner The C10 sign
31. ed black asphalt which due to lower reflectivity effectively cut the practical scan range in half The survey work speed was about 0 6 to 0 75 miles per day as opposed to a more typical 0 75 to 1 miles per day In addition the crew size at the work site was about 7 to 8 surveyors It was quickly apparent that laser scanning survey was less efficient and slower than traditional means in this arrangement Nevertheless the field work of the project was nearly completed at the end of the fourth day This first session also provided valuable lessons in conducting the training as reflected in the revised approach used for subsequent training Figure 6 shows the pilot project worksite and District 6 surveyors being trained 4 EE yg Figure 6 District 6 field practice training on Highway 99 In June 2008 Phase I Caltrans District 11 surveyors Chelsie Hopkins Jason Webb and Dave Olander received training in operating a Leica Geosystems ScanStation 2 laser scanner and using Leica Cyclone point cloud post processing software from AHMCT Research Center and Caltrans Headquarters personnel District ll San Diego surveyors used a Leica ScanStation 2 to survey the California Highway 805 and 95 interchange during the second day of training as shown in Figure 7 After the training District 11 surveyors independently conducted projects using the ScanStation 2 In one project they scanned a petroglyph a rock carving or inscription at a historically s
32. eir valuable participation and contributions The authors also thank the District TLS users Professional Engineers and Professional Land Surveyors for their valuable feedback including Matt Herbert Chelsie Hopkins Carol Puszert Scott Rhinehart Ned Salman Nick Tatarian Tom Taylor Eric Vance and James White Moreover the authors express gratitude to Leica Geosystems and Trimble for their generous support in providing software licenses for training our work would not have been feasible without their gracious assistance The authors also acknowledge the dedicated efforts of the AHMCT project team members who have made this work possible XV Copyright 2013 AHMCT Research Center UC Davis Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials CHAPTER I INTRODUCTION Background and Motivation Terrestrial 3D laser scanners TLS a new class of survey instruments have recently become very popular and are increasingly used in providing as built and modeling data in various applications including land surveying archeological studies architecture bridge structures and highway surveys These scanners measure thousands of data points each measurement point yields instrument centered X Y Z and return intensity per second and generate a very detailed point cloud data set The point cloud can then be post processed to create
33. figure below After that left click on the Ok button see figure below General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings Obtain an IP address automatically fe Use the following IP address IP address 10 1 100 100 Subnet mask 255 255 10 330 Default gateway like hs asl Obtain DNS server address automatically f Use the following DNS server addresses Preferred DNS server i Alternate DNS server Advanced 4 Left click on the Ok button in the Local Area Connection Properties window 31 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials Using a Pre configured Batch bat File As an alternative to the above manual changes the user can use pre configured batch files to set the laptop IP address for use with the scanner network_ip_to_scanning_1ip bat and to set the laptop IP back to use DHCP for use in the office ipchange_to_dynamic bat Double click on the file named network_ip_to_scanning_ip bat or network2ip_to_scanning_ip bat Here use the file that corresponds to the name of the wired LAN adapter in Windows 1 e Local Area Connection or Local Area Connection 2 To change back to Dynamic
34. folder the default 1s C Program Files Leica Geosystems Cyclone To display available licenses left click normal mouse click on Help in Cyclone Navigator window and left click on Display License as shown in Figure 13a Figure 13b shows the licenses available to the users Left click the Close button to close the Cyclone License window ini x e Cyclone Navigator A File Edit View Configure Create Tools Help la m a jo co a Son us Sr E Defect Report m C MODEL IN 4 k d n4n d i zu hs PONE node mcr ed az ett ly El Cyclane PUBLISHER Node locked 849 dayfs left BRAIN unshared Display License p Cyclone REGISTER Node locked 848 day s left 2 Cyclone License x Licensed Cloud ore Pro for AutoCAD Mode locked 848 day s left loudyors for MicroStation Mode locked 848 dau s left E Traffic w Cyclone SCAN Node locked 848 dav s left eg Beh d Keene Manager Cyclone II TOPO Nade lacked 848 day s left c TE aS Poe Cyclone VIEWER Pro Node locked 548 day s left SCANNERS Phan JA Dumme Scanner zd Uninstall Close E Display License information about Cyclone ve b a Figure 13 Display license If the Cyclone installation uses a license server the user should check out only the specific licenses to be used during the session For example if the user only plans to do modeling work they should only check
35. g hardware and software improvements training materials and best practices and workflow will be made available at the AHMCT Laser Scanning Resources site http hardhat ahmct ucdavis edu mediawiki index php LaserScanResources 15 Copyright 2013 AHMCT Research Center UC Davis Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials REFERENCES l W Boehler and A Marbs 3D Scanning Instruments in The International Archives of Photogrammetry Remote Sensing and Spatial Information Sciences Corfu Greece 2002 2 J Hiremagalur K S Yen K Akin T Bui T A Lasky and B Ravani Creating Standards and Specifications for the Use of Laser Scanning in Caltrans Projects AHMCT Rept UCD ARR 07 06 30 01 Davis 2007 3 J H remagalur K S Yen T A Lasky and B Ravani Testing and Performance Evaluation of Fixed Terrestrial 3D Laser Scanning Systems for Highway Applications Transportation Research Record Journal of the Transportation Research Board 2098 pp 29 40 2009 4 G Jacobs Understanding the Useful Range of Laser Scanners Professional Surveyor Magazine 2004 5 G Jacobs Registration and Geo Referencing Professional Surveyor Magazine pp 30 37 2005 6 E J Jaselskis Z Gao A Welch and D O Brien Pilot Study on Laser Scanning Technology for Transportation Projects in Mid Co
36. he state of the art in scanning hardware point cloud post processing software and methodologies and workflows will be essential AHMCT continues its efforts in this area in cooperation with the Caltrans Office of Land Surveys OLS Under Kevin Akin s lead Caltrans OLS has successfully assumed responsibility for future Caltrans training an important step in the overall deployment process Future work for AHMCT and Caltrans includes e Exploring means to speed up point cloud post processing e Marketing new deliverables to survey customers management to foster support for and use of this technology and its associated deliverables e Upgrade of CAD workstations network and servers for District offices e Creating a laser scanning user group in Caltrans DI and D4 like the user group idea D4 likes to meet in person but GoToMeeting or similar webinar seems to work well for everyone e Developing additional automated methods of filtering and extracting data from point clouds 14 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials e Arrange refresher or additional scan classes as needed for districts that have already been trained The main objective is to increase the efficient usage of TLS Mark Turner Office Chief of Land Surveys continues to stress Deploy it Drive it all home Any new information regardin
37. ht due to using the wrong Twin Target top or bottom o Look for error 2 15 m 7 054 ft 0 45 m 1 476 ft and 1 7 m 5 577 ft 2 15 mis the extended top target height 0 45 m is the extended bottom target height and 1 7 mis the height difference between the top target and bottom target on the Twin Target pole o Fixincorrect target height in scan control Open up the scan control open up the dummy scanner or the actual scanner redo the field setup or edit target height in the register e Start with the first ScanWorld and register it If the registration is adequate add another ScanWorld and register those two Keep adding and registering until the problem ScanWorld is identified e Register the problem ScanWorld by itself and try to determine the problem e Open up control space of the ScanWorld to better understand the setup of each ScanWorld e Look for incorrectly labeled target points E g control point label appears twice at different locations e Look for large errors on all points If there is a registration error which shows up in the control points this usually means one of the control points has an incorrect coordinate 33 Copyright 2013 AHMCT Research Center UC Davis Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials APPENDIX C POINT CLOUD POST PROCESSING TRAINING TOPICS The AHMCT and Caltrans point c
38. ide longer range typically between 75 m to 1000 m Generally phase based scanners are used in physical plant e g factory and indoor survey applications where range requirements are shorter and multiple scans from several locations are desirable due to view obstruction from structures and pipes On the other hand scanners based on TOF technology are usually used in outdoor pavement architecture and geo technical related survey applications where range requirements are larger Therefore TOF based scanners are more suitable for typical DOT applications A 3D laser scanner provides 3D positional information in a manner similar to a Total Station The 3D scanner has higher measurement rate resulting in more measurements in a shorter amount of time The 3D laser scanner gives the user many measurement points at a shorter range while the Total Station provides the user with pin point measurement at lower speed but with longer range Even though the user may scan the area of interest with a high density scan the resulting 3D laser scanner measurement points may not necessarily lie exactly on top of the point of interest On the other hand the surveyor can use the Total Station optical sight to aim and measure the exact point of interest The useful range of a Total Station is generally a few times larger than that of a laser scanner Despite having shorter range than Total Station the 3D laser scanner can accurately position objects at over 10 000 t
39. ificantly reduces the field time by 50 75 compared to a ScanStation 2 Through this project and the previous Phase I six 1 2 4 5 6 and 11 of twelve Caltrans Districts have been trained on using Leica scanners ScanStation and ScanStation 2 and Cyclone point cloud post processing software Their training dates are summarized in Table 1 After training District 4 6 and 11 surveyors have performed scan projects by themselves Caltrans has also performed its own internal training for Districts 3 7 8 10 and 12 and refresher courses for some of the other districts Because of the nature of the District 9 survey work and the District size there is no plan to train District 9 surveyors to use fixed laser scanning hardware and point cloud processing software Table 1 Caltrans district laser scanning survey training dates for both Phase I and Phase II projects maltrans District Training Date Project Phase Phase I Eo o Sep 2007 5 Jan 2008 __ Phasel Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials gg Willits Downtown 4 Beran ji N Ai MR a gt PRAD A Ls 580 truck passing lane s 10 Rock slide NM AR 140 San J z l e an Jose n jo A LA b ag Devil s Slide SR U I DS 1 SRI Be 2 at SRI 99 Fresnos ifornia Big Sur1 SR Tg Big Sur2 SR 1 g Traffic Way at
40. ignificant site see subsequent Figure 9 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials Figure 7 District 11 field practice training at the Highway 805 and 905 interchange In January 2008 Phase I Caltrans District 5 surveyors Neal Dickey Robert MacKenzie Richard Majernik Brian Meeks and Jonathan Walsh received training in operating a Leica Geosystems ScanStation 1 laser scanner and using Leica Cyclone point cloud post processing software Figure 8 shows the District5 surveyors being trained to do field work with the ScanStation 1 Figure 8 District 5 field practice session In February 2008 Phase II Caltrans District 2 surveyors received training in operating a Leica Geosystems ScanStation 2 laser scanner and using Leica Cyclone point cloud post processing software Figure 9 shows the District 2 surveyors being trained to do field work with the ScanStation 2 10 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials Figure 9 District 2 field practice session GN Serer TY xg ed A I ask eT ag 5 za RF a RI e s z gt Figure 10 From point cloud to plastic physical model New Deliverable Possibilities The 3D laser scanner and resulting point cloud data c
41. imes the speed of a Total Station which allows it to quickly produce large amounts of survey data The resulting data set commonly referred to as a point cloud provides a realistic visualization of the features of interest and detailed three dimensional data for modeling volume calculation and angle orientation measurement This capability is difficult to obtain using traditional survey instruments Using the 3D laser scanner on projects with a large amount of detail allows surveyors to significantly reduce survey field time and results in more survey site detail reducing or eliminating the need to return to the field for additional measurements In practical laser scanner applications multiple scans at different locations are often required to capture the entire survey site due to the site size exceeding the useful range of the laser scanner or the scanner s line of sight being obscured by structures in one or more of the scan locations Post processing of multiple point cloud data sets from various scan locations must be performed to combine and tie the data sets to an existing control coordinate system in order for the overall data set to be useful for surveyors Otherwise users may only extract relative positional information of objects within each individual point cloud This post processing process is commonly referred to as registration geo referencing 2 3 Limitations Laser scanner performance in real life applications i
42. ion 1 and 2 hardware package is large heavy and bulky compared to other survey instruments The first two generations of laser scanners were slow however emerging commercial systems alleviate this aspect There is a lot of heavy and bulky equipment to carry around generally requiring a few trips back and forth from the vehicle to the instrument setup location The new ScanStation C10 hardware has mostly addressed the shortcomings of previous ScanStation hardware in size power and weight The C10 has hot swappable internal batteries and a built in touch 12 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials screen interface for data collection It weighs 29 Ibs It eliminates the need for laptop external batteries and generator e The setup and data collection takes too long The new C10 laser scanner has also reduced the setup and data collection time by 50 75 As the result the data collection rate has increased significantly e Long post processing time to final deliverables The new version of point cloud post processing software has made some improvements in the extraction of data However much work remains in this area e Customers typically want the traditional deliverables e g 2D plots There has been a lack of demand from Structures the group that could likely benefit most from incorporating the detaile
43. ipment e g digital level and Total Station 31 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials 90 Deg Vert 32 Deg Vert 22 5 Deg Vert 0 Deg Vert i z gt i in 3 E 360 Deg Horz Rotation 45 Deg Vert 180 Deg Horz Mark Figure 21 ScanStation orientation definition The user should take good field notes when the ScanStation 2 is actively scanning In addition the user should check the status of notebook computer and ScanStation batteries after 2 to 3 hours of use In general the ScanStation 2 run time is about 5 hours total when both batteries are being used at the same time The user should check the battery status often to minimize the risk of complete power loss to either the scanner or the notebook computer during a scan The typical Panasonic Toughbook CF74 battery run time is about 3 hours When batteries are low a generator can be used to charge notebook computer and ScanStation 2 batteries and power the ScanStation 2 using AC adapter It is a good practice to keep one battery connected to the scanner in case of generator failure due to running out of fuel or other causes The user should backup the data to portable drive USB Drive or on DVD R at the end of the day The details of ScanStation 2 setup break down steps can be found in the ScanStation 2 user
44. loud post processing training topics include Using the Seek tool Understanding and switching between Pick Multi pick and View modes Unifying point clouds after registration Clearing traffic noise after unify point cloud Creating a line or polyline alignment and cross sections Creating Hot Keys configuration Using Limit Box Using Fence Tool Creating and using Layer feature in Cyclone Using Cyclone Virtual Surveyor to export a CAICE tss file Refer to Kevin Akin s MS Word document and batch files Modeling patch cylinder and cone Making a rectangular patch and a circular patch Getting patch information Creating bridge Clearance Measurements Producing an animation Steps 1 Create Object insert camera repeat to add more camera requires at least 3 cameras 2 Select camera s with multi pick tool at least 3 cameras 3 Create object animation create path set path 4 Animation editor 5 Set keyframes Exporting data to MicroStation and other CAD packages Point cloud data exchange between Cyclone and RealWorks Survey 35 Copyright 2013 AHMCT Research Center UC Davis Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials APPENDIX D NETWORK SETTINGS OF THE LAPTOP THAT WILL CONTROL THE SCANSTATION I OR SCANSTATION 2 The field laptop will control the ScanStation 2 by
45. manual 32 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials APPENDIX B CYCLONE REGISTRATION Typical Registration Steps 1 Right click and select create and then Registration 2 Double click to open the registration 3 Click ScanWorld and Add ScanWorld 4 Select the ScanWorld and Known Coordinates control points and click gt gt and then OR 5 Right click on Known Coordinates and select Set Home ScanWorld Home ScanWorld is highlighted in bold 6 Click Constraint and then Auto Add Constraints 7 Click Registration and then Register 8 Examine errors and check for large errors 9 Accept the registration by clicking Registration and Create ScanWorld Freeze Registration 10 Final step is to click on Registration and Create and Open ModelSpace if the user would like to view the final registration immediately Alternatively the user can click on Registration and Create ModelSpace to only create the ModelSpace without opening the viewer Tips in Identifying and Fixing Registration Errors Review the registration error report Review the field notes and site plan drawing Disable suspect control points Fix bad controls and registrations Disable resection station point Check for incorrect target heig
46. nter UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials ABSTRACT This report documents the AHMCT research project Accelerated Project Delivery Case Studies and Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials This work continued AHMCT s Phase I efforts 8 The report body provides motivation and background information for fixed 3D terrestrial laser scanning along with the details for Caltrans District training and deployment The report appendices provide in depth material suitable for use in future Caltrans training deployment and on going use of 3D laser scanning including planning and scanning field work point cloud registration point cloud post processing scanner setup and troubleshooting and an equipment packing list 111 Copyright 2013 AHMCT Research Center UC Davis Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials TABLE OF CONTENTS Table of Contents u ee IERI TT OE CT TM BAT TADLES EE T Disclaumer DISCcloS Ue 2 ai List of Acronyms and Abbreviations ecce esee ee eene eene eee aaa aaa aaa aaa ooo ooo 0000000 AZCkHOWledemenls ici pvc S eii i DP iit nade a Chapter 1 Introductionis cete eee sec oue RER Background and Motivation e
47. ntinent Transportation Research Symposium Ames Iowa August 2003 7 T Schulz H Ingensand and M Steiner Laser Scanning and Noise Reduction Applied to 3D Road Surface Analysis in Proceedings of the FIG Working Week 2005 8 K S Yen K Akin B Ravani and T A Lasky Accelerated Project Delivery Case Studies and Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase I Training and Field Use AHMCT Research Center Rept UCD ARR 08 06 30 06 2008 17 Copyright 2013 AHMCT Research Center UC Davis Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials APPENDIX A LASER SCANNING SURVEY PLANNING AND EXECUTION Laser Scanning Survey General Workflow Laser scanning surveys may be divided into four phases planning scanning registration and QA QC and finally post processing Only the scanning phase is required to be performed in the field Thus laser scanning surveys generally reduce field time but the office post processing time is generally increased as compared to traditional survey methods Figure 11 repeat of Figure 2 for convenience illustrates the general laser scanning survey workflow In the planning phase users examine the project deliverable requirements project limits and scope of work to determine the number of scanning setups the scanner setup locations and control point locati
48. nts of this report reflect the views of the authors who are responsible for the facts and the accuracy of the data presented herein The contents do not necessarily reflect the official views or policies of the State of California the Federal Highway Administration or the University of California This report does not constitute a standard specification or regulation Xl Copyright 2013 AHMCT Research Center UC Davis Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials LIST OF ACRONYMS AND ABBREVIATIONS DRI Caltrans Division of Research and Innovation DM Cita Terrain Model Fov Fied ofView 000 LOS Line of Sight PMS Microsoft OEM Original Equipment Manufacturer PDF xili Copyright 2013 AHMCT Research Center UC Davis Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials ACKNOWLEDGMENTS The authors thank the California Department of Transportation Caltrans for their support in particular the guidance and review provided by Kevin Akin of the Office of Land Surveys The authors thank John Borden A J Burgess Robbie Dolan Richard Erskine John Fundus Tom Gillett William Jackson Robert McMillan Jimmy Pallares Chuck Tuomainen Dave Olander Mark Turner and C J Vandegrift for th
49. oint clouds and photos in a database file with extension mp The user must add a new database with Cyclone Navigator before beginning a new scan job To access existing imp data files the user must add a link to the imp database file in Cyclone Navigator To add a database in Cyclone Navigator 1 Left click on Configure in Cyclone Navigator window and left click on Databases as shown in Figure 16a 2 Left click on the Add button in Configure Database as shown in Figure 16b 3 Left click on the button next to Database Filename field in Add Database as shown in Figure 16c 24 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials Select the file location To create a new database file type in a filename with imp at the end in the File name field of the Create Select a Cyclone DB window as shown in Figure l d In the case of accessing an existing Cyclone database file select left click the file Next left click on the Open button as shown in Figure 16d The Database Name field in the Add Database window will automatically fill in using the filename The user may change it by typing in the field Left click on the OK button to complete the add database process as shown in Figure 16d Lastly left click on Close button to close the Configure Database windo
50. one begins in the afternoon of the third training day concluding on the last instruction day Day three and four instruction topics include e understanding the Cyclone modules Scan Register and Model and how they are accessed e using the seek and pick tool e unifying point clouds e clearing traffic noise within the point cloud e creating lines polylines patches cylinders cones spheres alignments and cross sections e using limit box and fence tools e performing bridge clearance measurements e working with Cyclone Virtual Surveyor e creating animation and exporting data to and importing from CAD and roadway design packages Caltrans also uses Trimble RealWorks to process point cloud data further details on the use of RealWorks are provided in related training course materials The Cyclone training course 1s quite intensive and covers extensive materials At the end of the training a set of ScanStation equipment is left with the District surveyors so that they can start using the equipment immediately to solidify what they have learned AHMCT researchers and Caltrans Headquarters Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials continue to provide technical support to District surveyors throughout their laser scanning projects Throughout this research project the training material was develop
51. ons When developing the scanner setup and control locations the users consider the scanner instrument s field of view practical scan range and any blockage of line of sight to key features and control targets due to buildings structures and vegetation The user should also review the equipment checklist see Appendix F to make sure no components are missing or damaged In addition the user should make sure all batteries two Leica ScanStation batteries and all notebook computer batteries are fully charged Register Point Cloud Generate Registration Error Report and Perform QA QC Develop Deliverable Requirement and Scan Plan Post processing Point Cloud Data to Create Deliverable Perform Laser Scanning Survey in the Field Figure 11 Overall workflow 19 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials Planning for a 3D Laser Scanning Survey Scan Plan considerations Deliverable requirements Scope of work Scanner location and control setup Aerial photo Digital Highway Inventory Photography Program DHIPP photos and Google Earth all help for this Scanner field of view Blockage of line of sight to key features or targets Maximum usable range 80 m to 90 m half the range if the pavement is new asphalt overlay Registration target placement lt
52. oot notebook computer usually a Panasonic Toughbook Plug in network cable Login as Caltrans User usually no password required The notebook computer wired network should already be setup for scanning and should not require any modifications See Appendix D for details of the wired network setup for scanning Cyclone SCAN i a a Start Cyclone Cyclone Navigator Create database if needed Adhere to file project and ScanWorld naming conventions Click on SCANNERS in Cyclone Navigator Double click AHMCT UCDAVIS or other available scanner in Cyclone Scanners See configure scanner Double click on the scanner name and open Cyclone SCAN Select the Cyclone database and project see figure below 30 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials 2 Select a Project x Select dac s xl E EX NN Create N BRAIN unshared Hs Traffic way 2 08135b E test E BRAIN BRAIN unshared Eia Traffic way een Lancel EZ Connecting to Scanner Click on Scanner and then Connect when the scanner is ready See Appendix D and Appendix E if Cyclone SCAN is unable to connect to the scanner Using dual axis level compensator 1 Check to see if dual axis level compensator is enabled by clicking Scanner and see if there i
53. rent version of MicroStation can export CAD models directly to 3D PDF Thus CAD models extracted from point clouds via CloudWorx or Cyclone can be readily converted into a 3D PDF file using MicroStation The main advantage is to allow a wider audience to view the 3D data Deployment Challenges Lessons Learned The deployment of Leica Geosystems 3D laser scanning system has had varying degrees of success in different Caltrans districts By nature some deployment challenges are technological while some are institutional Some of the key challenges include e Point cloud post processing software has a steep learning curve and the associated skills have a short shelf life Users found that the software skills that they have invested time and resources to learn are quite perishable i e the skills decay without regular use e Existing computers and servers in the district offices are ill equipped for handling and processing the huge data sets Additional investment will be needed to store and process point cloud data e The optimal 3D laser scanning workflow and crew structure and size does not fit well with existing District survey crew size and structure 3D laser scanning survey workflow favors small crew size two people Typical Caltrans crew size is three to four e Moreover while some survey customers may find the point cloud data interesting they don t know what to do with the point cloud and or 3D data e The ScanStat
54. rial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials LIST OF FIGURES Figure 1 Working principle of phase based and time of flight 3D laser scanners 2 Fic re 22 OverallworkflowW2 2 2 2 22ER DIE Isle 4 Figure 5 Map of Caltrans laser scan projects ann LE es ae 7 Figure 4 Night scanning of the old Bay Bridge for the design and construction of the new Bay Bridge detour8 Figure 5 Map of District 4 laser scanning projectS ssoooooooooo000000000000000000000000000000000000000000000000000000000000000000000000000 8 Figure 6 District 6 field practice training on Highway 99 cccccccccsssssssssssssssccssscccccccccccccssssssssscscscccscccscsessssesees 9 Figure 7 District 11 field practice training at the Highway 805 and 905 interchange 10 Figure 8 District 5 held practice session m od WEZ OE Odo cda OZ 10 Figure 9 District 2 Meld practice Session anna Ob doo e aaa aaa aaa a o oo dGd 11 Figure 10 From point cloud to plastic physical model 222000000000000000ooooooooooo0000000000000000000000000000000000000000 11 Figure 11 Overall work 0W a 8 au 19 Kisure 12 Scan Staton 2 pack a Ge ua ARSTER DER WC 20 Fipure 13 Display heenseras u a Z OG RCA RR Rai 22 Fipure 14 License Manager ana Eee el a ir Eoaea 23 Figure 15 Cyclone preferences sau analerkiesiiunk linkes 24 Figure 16 Adding a database for
55. s a check next to Enable Dual axis Compensator 2 Check if the Compensator is In Range by clicking Scanner and then Bubble Level 3 Note that using dual axis level compensator may be inappropriate in high vibration environments Taking pictures using the internal camera 1 Set the Field of View See Figure 21 for the scanner orientation definition 2 Adjust the camera exposure by clicking Image and then Image Exposure 3 Adjust the exposure time in milliseconds 4 Click on the Image button at the lower right hand corner of Cyclone Scan Control For detailed steps of scanning the area of interest importing control points navigating in Cyclone and field registration please refer to the Leica Geosystems High Definition Surveying Basic Training Manual sections 1 and 2 Based on our experience of common mistakes that users make the following are items to be mindful of 1 e these are worth double checking 1 When importing control points be careful with x y Easting and Northing ordering and unit selection particularly US Survey feet and feet 2 Don t forget to click Apply to commit your registration after calculating the registration errors in the Field Registration setup step 3 Currently Traverse with ScanStation 2 is not recommended for high accuracy work e g pavement surveys ScanStation 2 is not as accurate in establishing control as traditional survey equ
56. s usually not as good as the stated manufacturer specifications due to a number of environmental factors that adversely affect performance Scanner performance and accuracy can be adversely affected by surface reflectivity and color edges temperature atmospheric conditions and interfering radiation such as bright lights or direct sunlight 1 Thick vegetation reduces the amount of useful information the Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials scanner can collect by obscuring objects of interest In addition scanners may not be appropriate for every application Like the Total Station a laser scanner requires direct line of sight to the points of interest Laser Scanning Survey General Workflow Laser scanning surveys may be divided into four phases planning scanning registration and QA QC and finally post processing Only the scanning phase is required to be performed in the field Thus laser scanning surveys generally reduce field time but the office post processing time is generally increased compared to Total Station surveys Figure 2 illustrates the general laser scanning survey workflow Register Point Cloud Generate Registration Error Report and Perform QA QC Post processing Point Cloud Data to Create Deliverables Perform Laser Scanning Survey in the Field Figure
57. sonic Toughbook recommended or other notebook computer with extra battery data backup hard drive mouse notebook case AC amp 12VDC charger Spare CATS network cable s e One tool bag with tape measure Ethernet cables power extension ScanStation battery chargers 2 power cable 2 and AC adapter One carrying case with two Leica Twin Target Poles Two Leica Twin Target pole tripods Generator Sandbags for scanner and target tripods e e Qr O ora 43 Copyright 2013 AHMCT Research Center UC Davis Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials APPENDIX G HONDA EU2000I GENERATOR USAGE INSTRUCTION Starting and Stopping Generator and Generator Maintenance The Caltrans OLS scanning package may come with a Honda EU200I generator For reference see http www hondapowerequipment com pdf manuals 31Z07610 pdf 45 Copyright 2013 AHMCT Research Center UC Davis
58. the command prompt You should see the following appear under Local Area Connection TE Addr eS Sue 3 0 Week ae ee ee KU EOUALUU cubret Mask je w rar Us e te O8 wie 22 0 9 3922929 uat Default Gateway by pee cod AN Ed sl o If any of the setting do not match scone the computer network connection for scanning see Appendix D e Then try pinging the scanner if the COM light is on Green using the ping command For example if your scanner 1p address labeled on the ScanStation is 10 1 200 1 e Type ping 10 1 200 1 on the command prompt e If you see Request timed out it is likely caused by one of o Computer not connected to the scanner Computer network setting incorrect Wrong scanner IP address used Selected the wrong scanner to start Cyclone SCAN ScanStation is performing self test e The Scanner is connected to the computer but it will not begin scanning o Check to make sure the scanner is unlocked The scanner cannot function unless it is unlocked and allowed to complete the bootup sequence O O O O 41 Copyright 2013 AHMCT Research Center UC Davis Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials APPENDIX F LASER SCANNING EQUIPMENT PACKAGE LIST Items Leica ScanStation 2 and transport enclosure Tripod with double clamping system Two ScanStation Batteries Pana
59. traditional survey means Despite the noted setbacks and difficulties we found that the deployment of 3D laser scanning technology is progressing well based on experience in deploying other new and innovative systems in Caltrans In Caltrans as in any large and diverse organization deployment of new technology will take time patience and continuous effort The overall project objective has been met However work remains to complete the deployment to other Caltrans Districts and overcome deployment challenges this work is being carried forward by Caltrans OLS with AHMCT providing technical advice as needed Future Work These findings and comments echo other 3D laser scanning system users feedback and are not unique to Caltrans or the Leica Geosystems HDS scanner and software New software is available that promises better post processing data extraction Continuing evolution of 3D laser scanners e g Leica Geosystems C10 and Riegl VZ400 is yielding significant reduction in field work time Scanners are smaller and lighter and can be run without a laptop computer In addition their internal batteries are smaller and lighter with longer life These changes have already helped overcome some of the initial technological challenges and improved overall efficiency of 3D laser scanning surveys Fixed 3D laser scanning is now a fairly mature technology and is being deployed in portions of Caltrans As the field evolves continued monitoring of t
60. w Inside the Configure Database window Figure 16f the user can also perform the following Operations to an individual database by first highlighting the database with a left click on the database name as shown in Figure 1 6f To remove the link between Cyclone Navigator and the database file and keep the imp file left click on the Remove button To remove the link between Cyclone Navigator and the database file and permanently delete the imp file from the computer left click on the Destroy button NOTE THAT THIS WILL COMPLETELY DELETE YOUR SCAN DATA Be certain this is what you intend before clicking the Destroy button To reduce the size of the database file left click on the Compact button To improve Cyclone performance when opening that database file left click on the Optimize button To make the database invisible in the Cyclone Navigator window left click on the Vv next to the database name This operation helps reduce the clutter in the Cyclone Navigator window To make the database visible again left click on the empty square box next to the database name 25 Copyright 2013 AHMCT Research Center UC Davis Field Use of 3D Terrestrial Laser Scanning in Caltrans Projects Phase II Additional Training and Materials AIN unshared Databases sl 0 Traffic Way 081356 J Cyclone Navigator File Edit View Configure Create Tools Help Remove

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