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Author:Ventin, Jakob
Title:Sisätilojen mittaaminen liikkuvalla laserkeilaimella
Measuring indoor environments with a mobile laser scanner system
Publication type:Master's thesis
Publication year:2012
Pages:(9) + 73 s. + liitt. 3      Language:   fin
Department/School:Maanmittaustieteiden laitos
Main subject:Fotogrammetria   (Maa-57)
Supervisor:Haggrén, Henrik
Instructor:Hyyppä, Juha ; Hyyppä, Hannu ; Kukko, Antero
OEVS:
Electronic archive copy is available via Aalto Thesis Database.
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Location:P1 Ark Aalto     | Archive
Keywords:mobile mapping
laser scanning
indoor environments
mobiilikartoitus
laserkeilaus
sisätilamittaus
Abstract (eng): Mobile laser scanning has developed from being a research topic to commercial applications during the past years.
However, mobile laser scanning has not been utilized indoors until now.
The biggest challenge in indoor mapping is positioning of the measurement platform, since it cannot be realized by using global satellite navigation.

The objective of this thesis was to investigate how well the mobile mapping system ROAMER, which was developed by the Finnish Geodetic Institute, is suited for mapping indoor environments.
The point cloud that was utilized in this thesis was measured inside the Finnish Geodetic Institute in Masala.
The measured point cloud was compared against control points measured by total station.
The accuracy of the point cloud was improved by using TerraSolid Oy's software.
The point cloud was manipulated in three different ways using targets.
The targets were fastened to the floor.

The original non-corrected point cloud deviated on average 155.4 cm from its true position.
By manipulating the point cloud its accuracy was significantly increased.
The best result was achieved by manipulating the point cloud using all targets.
In this case the point cloud deviated on average 4.3 cm from its true position.
The standard deviation in this case was 3.9 cm.

The measured point cloud as such is not well suited for applications that require measurements of high accuracy.
By manipulating the point cloud its accuracy can be significantly increased.
The manipulated point cloud can be used for applications such as making indoor maps or modelling.
Abstract (fin): Liikkuva laserkeilaus on viime vuosien aikana kehittynyt tutkimusaiheesta kaupallisiin sovelluksiin.
Tähän mennessä liikkuvaa laserkeilausta ei ole yleisesti käytetty sisätilojen mittaamiseen.
Suurin haaste sisätilojen mittaamisessa on paikannus.
Sisätiloissa paikannusta ei voida toteuttaa satelliittipaikannuksella.

Tämän diplomityön tavoitteena oli tutkia miten Geodeettisen laitoksen kehittämä liikkuva laserkeilausjärjestelmä ROAMER soveltuu sisätilojen mittaukseen.
Tutkimuksessa käytetyt aineistot mitattiin Geodeettisen laitoksen sisältä Masalassa.
Mitattuja aineistoja verrattiin takymetrillä mitattuihin kontrollipisteisiin.
Aineistojen geometrista tarkkuutta pyrittiin parantamaan TerraSolid Oy:n ohjelmilla.
Aineistoa korjattiin kolmella en tavalla lattiaan kiinnitettyjä tähyksiä käyttämällä.

Mitatut aineistot poikkesivat alkuperäisessä aineistossa keskimäärin 155,4 cm oikeista sijainneistaan.
Käsittelemällä aineistoa sen tarkkuutta voitiin parantaa merkittävästi.
Parhaaseen tulokseen päästiin, kun käytettiin kaikkia tähyksiä aineiston muokkaamiseen.
Aineistot poikkesivat parhaassa tapauksessa keskimäärin 4,3 cm oikeista sijainneistaan.
Keskihajonta oli 3,9 cm.

Mitattu aineisto ei sovi suoraan tarkkaa aineistoa vaativiin sovelluksiin.
Käsittelemällä aineistoa sen tarkkuutta kuitenkin voidaan parantaa huomattavasti.
Käsiteltyä aineistoa voidaan käyttää esimerkiksi sisätilojen karttojen valmistuksessa tai mallintamisessa.
ED:2012-02-13
INSSI record number: 43937
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