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Comparison of Inertial Profiler Measurements with Leveling and 3D Laser Scanning
Abby Chin and Michael J. OlsenOregon State University
Road Profile Users Group28 September 2011
Outline
• Research Objectives & Plan
• 3D Laser Scanning
• Field Data
• Observations & Future Work
1
Research Objectives
• Establish certification test site
• Determine repeatability and accuracy of reference profiler (inclinometer)
• Develop procedures and guidelines for certification of inertial profilers
2
Background
• ODOT is implementing IRI-based incentive/disincentive program
• Certification on site proved difficult
• Inertial profilers were showing great repeatability, but did not meet AASHTO criteria
3
Research Plan
• Compare Methods• Inertial Profiler• Terrestrial LiDAR• Rod and Level• Inclinometer Profilers
• Develop Certification Procedure Guidelines• Pavement Texture Analysis
• Study Roughness and Aggregate Size
4
What is LiDAR?
Original Slide by: Evon Silvia - Oregon State University
D = 0.5c∆t• c = speed of light• ∆t = travel time
D
∆t
LiDAR = Light Detection and Ranging
Terrestrial LiDAR
• Time of Flight System• Produces 3D Point Cloud• ~5 mm Accuracy at 50 m• Data are Geo-referenced
• Targets• GPS
6
Equipment
7
Camera
Power Source
Scanner
GPS
Computer
Data
• Point Cloud• X Y Z coordinates• R G B color mapped• Intensity value (return signal strength)• 3D model
8
Point Cloud Example
9
Point Cloud Example
10
Laser Scanning Advantages• Multiple Profiles• Redundant Data
• Dense Point Cloud (1-5 cm Spacing)• Quick Data Acquisition• Improved Safety• Road Open to Traffic• Identify Localized Depressions• Continual Evaluation• As Built Survey Data
11
Laser Scanning Disadvantages• Individual measurements accurate to +/- 5mm
• Objects can block line of sight
• Field setup time
• Data processing requires training and time
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Mobile Laser Scan System
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Laser scanner
Camera
GPS receiver
Mobile Laser Scan Example
14
Test Site – Albany, Oregon
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Field Testing
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Field Test Setup
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• 528 ft Section• 6 Scan Positions
• Every 50 m• GPS used to
determine position• 5 Targets
• Every 50 m• Total station used to
determine position
Point Cloud
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Point Cloud – Colored from Photos
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Field Data - Workflow
• Obtain 3D point cloud• Prune data to roadway
• Statistically filter data to specified spacing
• Obtain profile using GIS
• Input data in ProVAL20
Editing Point Clouds
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Statistical FilteringProcess
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http://www.lidarnews.com/content/view/8378/136/
• Inclinometer Profiler
• Left – 66 in/mi
• Right – 84 in/mi
IRI Comparisons
23
• Laser Scanner
• Left – 73 in/mi
• Right – 88 in/mi
ProVAL Data – Left Wheel Path
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Inclinometer
Scanner
ProVAL Data – Right Wheel Path
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Inclinometer
Scanner
Observations
• Data between inclinometer profiler and laser scanner is offset• Offset gets larger
• Laser scan data filtered to 1 ft intervals• Visible noise in the data
• Starting points may not be exactly the same
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Laser Scan Data Comparison - Worst
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1 ft Spacing
0.5 ft Spacing
0.25 ft Spacing
Grid Cell Dimensions2” V x 20’ H
Laser Scan Data Comparison - Best
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1 ft Spacing
0.5 ft Spacing
0.25 ft Spacing
Grid Cell Dimensions2” V x 20’ H
Localized Depressions
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Right End
Middle Section
Questions to Investigate
• Laser Scanning• Can the noise be smoothed out while taking
advantage of the dense data?• i.e. close point spacing
• Compare the profiles in ProVAL• Are IRI values consistent?• Do the distance vs. elevation plots agree?• What are the reasons for any discrepancies?
30
Future Work
• Obtain and compare additional profiles from test site• Laser Scanning• Inertial Profiler• Rod & Level
• Create procedures and guidelines for certification
31
Questions?
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Comparison of Inertial Profiler Measurements with Leveling and 3D Laser ScanningOutlineResearch ObjectivesBackgroundResearch PlanWhat is LiDAR?�Terrestrial LiDAREquipmentDataPoint Cloud ExamplePoint Cloud ExampleLaser Scanning AdvantagesLaser Scanning DisadvantagesMobile Laser Scan SystemMobile Laser Scan ExampleTest Site – Albany, OregonField TestingField Test SetupPoint CloudPoint Cloud – Colored from PhotosField Data - WorkflowEditing Point CloudsStatistical Filtering�ProcessIRI ComparisonsProVAL Data – Left Wheel PathProVAL Data – Right Wheel PathObservationsLaser Scan Data Comparison - Worst�Laser Scan Data Comparison - BestLocalized DepressionsQuestions to Investigate Future Work Questions?