Light Detection And Ranging (LiDAR) har under det senaste decenniet utvecklats mycket och används som datainsamlingsmetod vid inventering av skog. Lantmäteriet genomför mellan åren 2009 och 2015 en riksomfattande flygburen laserskanning över hela Sverige och den laserskanningen ska leda till en ny nationell höjdmodell (NNH). Data som genereras från denna höjdmodell kan nyttjas av skogsindustrin för att göra skogliga inventeringar. Programvaruutvecklaren Esri Inc. har utvecklat ett stöd för hantering av denna typ av data i deras nya version av ArcGIS, ArcGIS 10.1. Syftet med denna studie är att undersöka hur skogsindustrin i Sverige använder LiDAR-data, vilka brister och behov som finns, hur ArcGIS används och hur ArcGIS kan utvecklas för att matcha skogsindustrins behov. I denna studie genomfördes dels en jämförelse mellan ArcGIS 10.1 med den tidigare versionen ArcGIS 10.0 och dels intervjuer av sex betydelsefulla personer som är verksamma i branschen. Personer från alla intressegrupper intervjuades; skogsägare, forskare och tekniska konsulter.Resultatet från jämförelsen mellan ArcGIS 10.0 och ArcGIS 10.1 visar potentialen med LiDAR-data och hur enkelt och smidigt det är att hantera LiDAR-data i den nya versionen av ArcGIS. Resultaten från intervjuerna visar att de data som finns tillgängligt från NNH är fullt tillräckliga för att göra skoglig inventering på beståndsnivå. Det är däremot inte tillräckligt för att göra analys på enskilda träd. Några av de intervjuade upplever ArcGIS som ett avancerat och tidskrävande program att lära sig medan andra framhäver att det ska bli intressant med stöd för hantering av LiDAR-data. De konsulter som intervjuats använder sig främst av egenutvecklade programvaror för hantering av LiDAR-data medan övriga intervjuade använder ArcGIS som huvudprogram. Esri Sverige visste inte riktigt hur kvaliteten på NNH var och i hur stor utsträckning skogsindustrin använder sig av NNH innan denna studie. Men det visade sig att NNH-data används i stor utsträckning redan och att kvaliteten är fullt tillräcklig för den information skogsindustrin vill ha. ArcGIS upplevs ibland som ett avancerat program och det har ofta att göra med tidsbrist. Finns tiden kan det mesta lösas. LiDAR, och framför allt NNH är bra och användbart nu, men frågan är vad som händer när det är dags att göra nästa inventering för skogsbolagen? / Light Detection And Ranging (LiDAR) has in the past decade developed a lot and is used as a data collection method for inventory of forest. The Swedish National Land Survey is between 2009 and 2015 carrying out a nationwide airborne laser scanning throughout Sweden, and this laser scanning process will lead to a new national elevation model called NNH. Data generated from this height model can be used by the forest industry to make forest inventories. The software developer ESRI Inc. has developed a support for handling LiDAR data in their new version of ArcGIS, ArcGIS 10.1. The purpose of this study is to investigate how the forest industry in Sweden are using LiDAR data, identifying gaps and needs, how ArcGIS is used and how ArcGIS can be developed to match the forest industry. This study was founded by comparing the new version of ArcGIS with the previous version and by interviewing six relevant people who are active in the industry. People from several stakeholders were interviewed: foresters, researchers and technical consultants.The results of the comparison between ArcGIS 10.0 and ArcGIS 10.1 show the potential of LiDAR data and how easy it is to deal with LiDAR data in the new version of ArcGIS. The results of the interviews show that the data available from the NNH are fully sufficient for forest inventory at stand level. It is however not sufficient for analysis of individual trees. Some of those interviewed experienced ArcGIS as an advanced and time-consuming program to learn while others emphasize that it will be interesting with support for managing LiDAR data. The interviewed consultants mostly use software that they have developed by themselves for managing LiDAR data, while other interviewees use ArcGIS as the main program. ESRI Sweden was not sure of the quality of the NNH and how much the forest industry uses NNH, before this study. But it turned out that the NNH data are widely used already, and that quality is adequate. ArcGIS is sometimes perceived as an advanced program and it has often to do with time constraints. If time is available the problem often can be fixed. LiDAR, and NNH is good and useful now, but the question is what will happen when it's time for the forest companies to make their next inventory?

This thesis considers the effect of manufacturing conditions and polymer ratio on water permeability and morphology of free-films. A novel spray method for producing ethyl cellulose (EC) and hydroxypropyl cellulose (HPC) free-films was developed where several process parameters was controlled. The process was optimised by pre-spraying solvent until the system reached a steady-state temperature. This minimised the variation of outlet air temperature to < 2.5 °C. Coating time was approximately 4 minutes excluding drying. Free-films were produced using 94 wt% solvent (95 %-ethanol) and 6 wt% polymer. The amount of HPC in the films was varied (wt% HPC defined as HPC/(HPC+EC)*100). Films with 30-40-50-57 wt% HPC were studied. Phase diagrams was constructed to study the phase transformation of polymer mixtures. Results show that all polymer mixtures with HPC content above 30 wt% were phase separated prior to film manufacturing. Temperature had an effect on the polymer phase transformation. In the phase diagram, the 2-phase area was larger for temperatures above 40 °C. The investigated manufacturing conditions were outlet air temperature (°C) and spray rate (g/min). Outlet air temperature was controlled by adjusting the inlet air temperature. The films were characterized by measuring water permeability (m2/s). Cross section structure of the films was analyzed with confocal laser scanning microscopy (CLSM). FITC-HPC was added for enhanced contrast between the domains. Higher outlet air temperature gave higher water permeability of the film whereas higher spray rate gave lower water permeability. The outlet air temperature had an impact on evaporation rate. The evaporation rate together with spray rate affected the solidification and hence the structure of the film. Images show that longer solidification time smeared the domains into larger domains. Lower water permeability was caused by less connectivity between the pores. In conclusion, experiments show that water permeability of EC/HPC free-films was highly dependent on the manufacturing conditions.

Conventional airborne laser scanner systems output the three-dimensional coordinates of the surface location hit by the laser pulse. Data storage capacity and processing speeds available today has made it possible to digitally sample and store the entire reflected waveform, instead of only extracting the coordinates. Research has shown that return waveforms can give even more detailed insights into the vertical structure of surface objects, surface slope, roughness and reflectivity than the conventional systems. One of the most important advantages with registering the waveforms is that it gives the user the possibility to himself define the way range is calculated in post-processing. In this thesis different techniques have been tested to visualize a waveform data set in order to get a better understanding of the waveforms and how they can be used to improve methods for classification of ground objects. A pulse detection algorithm, using the EM algorithm, has been implemented and tested. The algorithm output position and width of the echo pulses. One of the results of this thesis is that echo pulses reflected by vegetation tend to be wider than those reflected by for example a road. Another result is that up till five echo pulses can be detected compared to two echo pulses that the conventional system detects.

The purpose of this paper is to design a laser scanning system for a high temperature and acidic environment to measure small-scale surface roughness of seabed and to collect information related to calcium carbonate debris. The study comprises two parts. One is to construct the hardware and software of the laser scanning system. Two is to test the system at sea. The system were tested at Kuishantao sea area, an area with many submarine springs. The temperature of the hot water from the submarine springs can be as high as 126¢XC. Key substances from this type of hot springs are surfur and air bubbles composed of CO2, N2, O2, SO2, and H2S. These chemicals make the sea water in this area acidic, and the pH value can be less than 2. In other words, this sea area is a high temperature and very acidic environment According the acidic resistant test result, the researchers decided to use Polypropylene (PP) as the material. The laser scanning system captures information automatically, and it uses industrial single board computer (PC104) as the control platform. The researchers selected red laser, which is monotonous, directional, and coherent Lithium batteries, can be recharged repetitively, were used to supply the power. High-precision positioning, high resolution, and with easy speed and angle control stepping motors were chosen for the system. For the software, the researchers chose the Window operating system. The hardware and software of this system are highly compatible. Operating the system is very intuitive because windows are used as the interface, and the hardware has high supporting capacity. This arrangement makes data analysis later on very convenient. Images acquired from conducting the actual experiment at sea that need to be processed. A CCD camcorder with fixed location and angle was used to capture images. With the high brightness characteristic of laser and simple threshold values for screening, the researchers got the pixel position of laser beans. Then a calibrated the camcorder was used to switch the pixel coordinates to obtain the actual size of the object.

To estimate the correct dimension of the target on the underwater, we can use CCD camera and cast laser light strip onto the target, and then observe the displacement of laser light to get the dimension. Since the laser light will show on different situation, it's due to the surface of the target is not smooth. When we get the image from CCD camera, we need to calibrate the displacement of the laser light and return to the actual dimension of the target on the underwater. We know the optical distortion and non-linearity of the CCD camera will influence to get the correct image, also the location of camera is. That's the reason we need to calibrate the camera first. It was a mathematical way to explain the calibration of CCD camera non-linearity before. On this subject, we lay vertical and horizontal grid lines of 50 mm span on an acrylic plate. These grid lines are same as the longitudes and latitudes of the map. We estimate the target with the pair of interpolated longitude and latitude same as to be used to estimate the location of the point in the world coordinate system. And choose some targets with different size and form to use to verify the approach. By the way, we also test if there is any influence for the clear of water. The results indicate the error is under 3 \% when we catch the image on the underwater by a calibrated CCD camera.

<p>This thesis has two aims. The first one is the investigation and analysis of the errors occurring in the measurements with pulsed time-of-flight (TOF) terrestrial laser scanners (TLS). A good understanding of the error sources and the relationships between them is necessary to secure the data accuracy. We subdivide these errors into four groups: instrumental, object-related, environmental and methodological. Based on our studies and the results obtained by other researchers, we have compiled an error model for TLS, which is used to estimate the single-point coordinate accuracy of a point in the point cloud, transformed to the specified coordinate system.</p><p>The second aim is to investigate systematic instrumental errors and performance of three pulsed TOF laser scanners – Callidus 1.1, Leica HDS 3000 and Leica HDS 2500 – and to develop calibration procedures that can be applied by the users to determine and correct the systematic errors in these instruments. The investigations have been performed at the indoor 3D calibration field established at KTH and outdoors. The systematic instrumental errors, or calibration parameters, have been estimated in a self-calibration according to the parametric least-squares adjustment in MATLAB®. The initial assumption was that the scanner instrumental errors are similar to those in a total station. The results have shown that the total station error model is applicable for TLS as a first approximation, but additional errors, specific to the scanner design, may appear. For example, we revealed a significant vertical scale error in the scanner Callidus 1.1, caused by the faults of the angular position sensor. The coordinate precision and accuracy of the scanners, estimated during the self-calibration, is at the level of several millimetres for Callidus 1.1 and Leica HDS 3000, and at the submillimetre level for Leica HDS 2500.</p><p>In other investigations, we revealed a range drift of up to 3 mm during the first few hours of scanning, presumably due to the changes in the temperature inside the scanners. The angular precision depends on the scanner design (“panoramic” or “camera-like”), and the angular accuracy depends on the significant calibration parameters in the scanner. Investigations of the influence of surface reflectance on the range measurements have shown that the indoor illumination and surface wetness have no tangible influence on the results. The type of the material does not affect, in general, the ranging precision for Callidus 1.1, but it affects the ranging precision and accuracy of the scanners Leica HDS 3000 and Leica HDS 2500. The reason may be different wavelength and, possibly, different design of the electronics in the laser rangefinders. Materials with high reflectance and those painted with bright “warning” colours may introduce significant offsets into the measured ranges (5 – 15 cm), when scanned from close ranges at normal incidence with the scanner Leica HDS 3000. “Mixed pixels” at the object edge may introduce a range error of several centimetres, on the average, depending on the type of the material. This phenomenon leads also to the distortions of the object size, which may be reduced by the removal of the “mixed pixels” based on their intensity. The laser beam intensity recorded by the scanner tends to decrease with an increased incidence angle, although not as assumed by the popular Lambertian reflectance model. Investigations of the scanner Leica HDS 2500 outdoors have revealed no significant influence of the “normal” atmospheric conditions on the range measurements at the ranges of up to 50 m.</p><p>Finally, we have developed and tested two simple procedures for the calibration of the vertical scale (and vertical index) error and zero error in laser scanners. We have also proposed an approach for the evaluation of the coordinate precision and accuracy in TLS based on the experiences from airborne laser scanning (ALS).</p>

ByggnadsInformationsModellering, BIM är ett komplext begrepp med varierande innebörd beroende på var i byggprocessen det används. Det finns ingen enkel definition av hur arbetet med BIM tillämpas och innefattar många aktiviteter.   I rapporten har en litteraturstudie samt intervjufrågor legat till grund för resultat och slutsatser, dessa har riktats mot att ta reda på hur digital informationshantering anpassas till en byggnads förvaltningsskede och hur inventering av en befintlig byggnad kan utföras med dagens teknik. Genom att studera vad som tidigare skrivits inom ämnet samt med kontakter via personer som sysslar med konsultuppdrag eller förvaltningsadministration inom byggbranschen har en sammanställning av nuvarande tillämpningar kunnat visas. I grund och botten är BIM ett modernt arbetssätt som kan nyttjas av alla discipliner för att tillge information i ett projekt som även kan fortsätta att uppdateras vidare genom produktion, förvaltning, ombyggnader samt renovering, och slutligen rivning.   Inventering av en äldre byggnad som saknar data kan återskapas med laserskannerteknik och ger en tillförlitlig datainsamling som sedan bearbetas i CAD-program. Forskning har skett för att försöka hitta ett sätt att lokalisera inbyggnadsmaterial utan att göra åverkan på byggnadskonstruktionen. / Building Information Modeling, BIM is a complex idea which has varying meaning depending on where in the building process it is used. There is no simple definition of how the working with BIM is applied and consists of many areas of activity.     This report is based upon the study of available literature and interview questions, which both have set the ground for the result and conclusions presented. These have aimed to investigate how digital information processing can be applied in the facility management for a building and furthermore, how inventory of an already built building can be improved by today’s technology.  By studying what´s already have been written on the subject and contacting people who works in the building consulting business or building facility management, a combination of available techniques is presented. The bottom-line is that BIM (Building Information Modeling) is a modern working method which can be used by all disciplines for applying information to a project, and which also can be used progressively into production, facility management, rebuilding and renovation, and finally deconstruction.   Inventorying of an old building which lacks data can be recreated by the use of laser scanner technique and gives a reliable collection of data, which afterwards is processed in a CAD program. Studies have been made in order to find a way for localizing inbuilt material without making any permanent damage to the building construction.

As-built documentation is an essential set of records, consisting of construction drawings, specifications and equipment location, which are kept for facility management purposes. These documents are constantly being created and modified throughout the life of a project. This process is usually manual and fraught with errors, which inhibits reliable decision making. Technological advancements have made it possible to generate 3D models to assess as-built conditions for construction monitoring purposes, such as verifying conformance to baseline project schedules and contract specifications. For this purpose, 3D point clouds are widely generated using laser scanners. However, this approach has limitations in the construction industry due to the expensive and fragile equipment, lack of portability and need of trained operators. This study aims at investigating an alternate technology to generate as-built 3D point clouds using photos taken using handheld digital cameras, compare them against the original as-built 3D models, and check for accuracy of the modeling process. This analysis can aid in more reliable and effective decision making due to its cost effectiveness and ease of use, particularly in heavy infrastructure projects which are continually undergoing rehabilitation work. To achieve these objectives, a set of guidelines are developed for taking photographs that enable effective generation of 3D point clouds using off-the-shelf software packages. The accuracy of the modeling process is investigated using the results of the as-built 3D point cloud modeling of a 2000 feet under construction bridge in southern United States. Finally, the range of tolerance and deviation of element dimensions is determined by comparing the photo based model to the actual as-built model (developed using 2D drawings). Furthermore, to compare point clouds of laser scanning and photogrammetry, a laser scan and an image based survey of an exterior wall of a university building was also done. Results show that this technology in its present state is not suitable for modeling infrastructure projects, however technological developments can enable this to be an efficient way to extract measurements of inaccessible objects for progress monitoring purposes and the models can also be stored for future dimension takeoffs for decision making and asset management purposes. / text

Contractors and tunnelling engineers consistently seek to identify techniques and equipment to improve the efficiency and lower the cost of tunnelling projects. Based on the recent successes of rock slope characterization with laser scanning techniques, the author proposes 3D laser scanning (LiDAR) as a new tool for geotechnical assessment in drill and blast tunnels. It has been demonstrated that practical deployment of a phase-based LiDAR system at the face of an active tunnel heading is possible with a simple tripod setup. With data collection requiring only 5 minutes at the tunnel face, it was shown that this technique could be integrated into geotechnical evaluation without interruption of the excavation cycle. Following the successful scanning at two active tunnelling projects and two completed unlined tunnels, the research explored the applications of the data. With detailed geometric data of the heading as it advanced, the author identified applications of interest to the contractor/on-site engineer as well as the geotechnical engineer or geologist responsible for rockmass characterization. Operational applications included the extraction of information about tunnel geometry and installed support, while geomechanical information provided important elements of rockmass characterization. Building on the success of retrieving joint network information, the research investigated the potential for LiDAR-derived structural databases to be the basis for highly-representative 3D discrete element models. These representative models were found to be useful for back-analysis or as predictive tools for future tunnel design. The primary implications of the thesis are that a) LiDAR data collection at the face of a drill and blast tunnel operation is practical and potentially has great value, b) data extraction is possible for a wide range of applications, and c) that discontinuum stability analysis becomes a much more powerful tool with the integration of LiDAR data. The cumulative result of the work presented is a proposed workflow for integrating LiDAR into tunneling operations. / Thesis (Master, Geological Sciences & Geological Engineering) -- Queen's University, 2010-09-22 19:38:49.401

This thesis describes a project to create a hardware based 3D interior scanner. This was based on a previous project that created a scanner optimised for interior conditions, using structured light triangulation. The original project referred to as the Mark-I scanner, performed its control and processing on a PC and the primary goal of this project was to re-implement this system using hardware, making the scanner more portable and simpler to use. The Mark-I system required a specialised camera which had an unusually high noise associated with it, so a secondary goal was to investigate whether this camera could be replaced with a superior model or this noise corrected. A Mark-II scanner system was created using FPGA processing and control implemented in the VHDL language. This read from a CMOS camera, controlled the system's motor and laser, generated 3D points and communicated with users. A suitable camera was not found and the Mark-I scanners camera was found to have been damaged and become unusable, so a simulation environment was constructed that simulated the operation of the scanner, created 3D images for it to process, and tested its results. Chapter 1 of this thesis outlines the goals of this pro ject and describes the Mark-I system. Chapter 2 describes the theory and properties of the Mark-I system, and chapter 3 describes the work undertaken to replace the scanner's sensor. Chapter 4 describes the system created to interface to CMOS sensors, and chapter 5 outlines the theory involved in calculating 3D points using structured light triangulation. The final hardware scanner, and the simulation system used to test it, are then described in chapter 6.