The choice of an appropriate metric is mandatory to perform deformation analysis between two point clouds (PC)—the distance has to be trustworthy and, simultaneously, robust against measurement noise, which may be correlated and heteroscedastic. The Hausdorff distance (HD) or its averaged derivation (AHD) are widely used to compute local distances between two PC and are implemented in nearly all commercial software. Unfortunately, they are affected by measurement noise, particularly when correlations are present. In this contribution, we focus on terrestrial laser scanner (TLS) observations and assess the impact of neglecting correlations on the distance computation when a mathematical approximation is performed. The results of the simulations are extended to real observations from a bridge under load. Highly accurate laser tracker (LT) measurements were available for this experiment: they allow the comparison of the HD and AHD between two raw PC or between their mathematical approximations regarding reference values. Based on these results, we determine which distance is better suited in the case of heteroscedastic and correlated TLS observations for local deformation analysis. Finally, we set up a novel bootstrap testing procedure for this distance when the PC are approximated with B-spline surfaces.

In many geodetic engineering applications it is necessary to solve the problem of describing a measured data point cloud, measured, e. g. by laser scanner, by means of free-form curves or surfaces, e. g., with B-Splines as basis functions. The state of the art approaches to determine B-Splines yields results which are seriously manipulated by the occurrence of data gaps and outliers.Optimal and robust B-Spline fitting depend, however, on optimal selection of the knot vector. Hence we combine in our approach Monte-Carlo methods and the location and curvature of the measured data in order to determine the knot vector of the B-Spline in such a way that no oscillating effects at the edges of data gaps occur. We introduce an optimized approach based on computed weights by means of resampling techniques. In order to minimize the effect of outliers, we apply robust M-estimators for the estimation of control points.The above mentioned approach will be applied to a multi-sensor system based on kinematic terrestrial laserscanning in the field of rail track inspection.

Global Navigation Satellite Systems (GNSS) deliver absolute position and velocity, as well as time information (P, V, T). However, in urban areas, the GNSS navigation performance is restricted due to signal obstructions and multipath. This is especially true for applications dealing with highly automatic or even autonomous driving. Subsequently, multi-sensor platforms including laser scanners and cameras, as well as map data are used to enhance the navigation performance, namely in accuracy, integrity, continuity and availability. Although well-established procedures for integrity monitoring exist for aircraft navigation, for sensors and fusion algorithms used in automotive navigation, these concepts are still lacking. The research training group i.c.sens, integrity and collaboration in dynamic sensor networks, aims to fill this gap and to contribute to relevant topics. This includes the definition of alternative integrity concepts for space and time based on set theory and interval mathematics, establishing new types of maps that report on the trustworthiness of the represented information, as well as taking advantage of collaboration by improved filters incorporating person and object tracking. In this paper, we describe our approach and summarize the preliminary results.

Deformation monitoring of structures is a common application and one of the major tasks of engineering surveying. Terrestrial laser scanning (TLS) has become a popular method for detecting deformations due to high precision and spatial resolution in capturing a number of three-dimensional point clouds. Surface-based methodology plays a prominent role in rigorous deformation analysis. Consequently, it is of great importance to select an appropriate regression model that reflects the geometrical features of each state or epoch. This paper aims at providing the practitioner some guidance in this regard. Different from standard model selection procedures for surface models based on information criteria, we adopted the hypothesis tests from D.R. Cox and Q.H. Vuong to discriminate statistically between parametric models. The methodology was instantiated in two numerical examples by discriminating between widely used polynomial and B-spline surfaces as models of given TLS point clouds. According to the test decisions, the B-spline surface model showed a slight advantage when both surface types had few parameters in the first example, while it performed significantly better for larger numbers of parameters. Within B-spline surface models, the optimal one for the specific segment was fixed by Vuong’s test whose result was quite consistent with the judgment of widely used Bayesian information criterion. The numerical instabilities of B-spline models due to data gap were clearly reflected by the model selection tests, which rejected inadequate B-spline models in another numerical example.