budapest, hungary 2015 - erpug · pavement profile scanner - pps with the pps we have a lidar...

BUDAPEST,

HUNGARY2015

Latest state of the art equipment for analyzing the evenness and distress– examples from airports and automotive test tracks

© 2015 LEHMANN+PARTNER GmbH2

Overview

Our Technology

Vehicles

Positioning

Sensors

3 D Road

Accuracy

Environment

© 2015 LEHMANN+PARTNER GmbH

3

Our Technology


4

Technology – Our Vehicle Types

I.R.I.S

S.T.I.E.R

A.T.L.A.S

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Technology – Positioning and Sensors

A

D

B

C

A

E

Inertial Positioning System - GPS

With POS LV we have a fully integrated,turnkey position and orientation system,which generates continuous, accurate,position and orientation information evenunder difficult GPS conditions.

A

Pavement Profile Scanner - PPS

With the PPS we have a LiDAR device on-board being specifically designed for thepurpose of real 3D-road surface/evennessdetection. It works with an height accuracyof 0.3 mm while being speed independent.

Clearance Profile Scanner - CPS

The CPS provides the ideal complement tothe road surface scanner PPS. The CPS is a350° laser scanner for precise detection ofclearance profiles and 3D area scans havinga measuring coverage of in total 60m.

Surface Ortho-Photo System

With our special road surface analysissystem we provide an outstanding solutionfor recognition of any kind of surfacedefects. Officially authenticated, cracksfrom a width of 0.5 mm can be detected.

Panoramic Camera Solution

A coupled system of photogrammetricsurvey cameras can be mounted on theroof frame to provide round-view imagery.The camera solution comes with a specialimage viewer and measurement tool.

E

D

C

B


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Precise Kinematic Positioning


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Inertial Positioning System

Fully integrated, turnkey position and orientation system, utilizing integrated

inertial technology to generate stable, reliable and repeatable positioning – even

under the most difficult GPS conditions

The positioning

system

synchronizes with

all measuring

sensors / camera

systems on board


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Our LiDAR Technology


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Laser Scanner PPS for Pavement Scanning

• 3D Road Profiles

• 800 profiles per second

• IP 67

• Laser: infrared, class 1 (eye save)

• Measurement range: 1,3m to10m

• 900 points per profile

• width of the recording: 4 m


Laser Scanner CPS for 350° Scans

Laser class 1 (eye safe)

1mm distance resolution

Measuring distance up to 30m

Scanning angle 350°

Protection class / housing - IP67

Frequency: 200 Hz

5000 points per scan (200 times per

second)


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What Can We Deliver?

• Longitudinal profile indices – independent from the driven path, wherever

needed

• Transverse profiling – giving exact 3D rutting depth

• Defects estimation

• 3D-inspection images (based on laser point cloud) – measure each point

down to mm-accuracy

• Exact mapping of clearance heights, tunnel survey inspection

• Iso-line maps, road surface mapping, surface runoff models

• 3D data for tire and vehicle simulation models serving as input for

MATLAB, SIMPACK, ADAMS, etc. (in OpenCRG format, RGR format)

• 3D mapping of complete road networks, network environments (mapping

of road traffic facilities, surface models of road environments and exact

modeling of environmental conditions as input for OPEN DRIVE


Examples of 3D Measurements

Intensity image 3-dimensional representation of intensity

Evenness in 3D – exaggerated scaling



Bad Road Section – Calculated IRI

Repeatability Comparison from 2 Runs

Comparability Surface Deviation

4 m straight edge (in mm)


3D-Visualization – CRG Data

3D-visualization of a CRG file (colored by

Z-coordinate: high=green and low=red) in a

object-centered perspective



Source: Survey for ARAI in India



Intensity image of a test trackReal photo Source: ARAI, India



Intensity image of a test track - detail

3D evaluation of measurement



Photo detail3D evaluation of measurement

Source: ARAI, India



Point cloud of road in visualization software Cloud Compare


Roads Enviromental Scanning

Example: Point Cloud from CPS mobile laser scan

Exact measure of objects along roads, giving precise location, dimension

and height:

… this enables for example the detection of:

• Inventory assessments

• Cross-sections

• Clearance heights under bridges and passages

• Height of protective devices (safety barriers) and gantries

• 3D run off models, identifying sections with poor drainage

• Mapping of profiled markings

Example: Clearing height under bridge


3D Laser Scan – Depicting Complete Road Surfaces


3D Laser Scan – example slope analysis


Orthofotos georeferenced example airport


example airport


Accuracy

Test frame


Accuracy

Laser tracker instrument

for utmost precise reference measuring


Accuracy

Example: Scan of test frame


Accuracy

Laser tracker points on test frame


Accuracy

Comparing laser tracker points on test frame with test frame objects measurements


Resulting Accuracies of Survey Data

Looking for accuracy and repeatability:

• Comparison of profiles

• Comparison CRG and point cloud

Comparison of multiple run point clouds.

One point cloud is meshed and visualized as grayscale, the return run is visualized in color. The

distances between the two point clouds are visualized (green= low; red=high). The mean distance

here is 0.000053 m with a standard deviation of 0.000610 m.


Resulting Accuracies of Survey Data

Looking for accuracy and repeatability:

• Comparison of profiles

• Comparison CRG and point cloud

Comparison of multiple run CRG files (grid points). The distance between the two CRG grid point

clouds are visualized (green= low; red=high). In this case, the mean distance is 0.000067m and the

standard deviation is 0.000553m.


Combine 3D Lane Info and 3D Road Inventory Info

3D Road Data

for each lane

from Fraunhofer PPS

3D road environment data

from Fraunhofer CPS (350o scanner)

to derive information on inventories


Simulation Model for Driving (I)

3D lane data:

point cloud or

grid data


Simulation Model for Driving (II)

Bringing in the

whole logic of

the road

environment

Inventory with

edges, kerbs,

markings,

signs, etc…

from CPS

scanner

Clearance Profile Scanner


Simulation Model for Driving (III)

Final virtual 3D

drive simulation


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Thanks for being

an attentive audience!

budapest, hungary 2015 - erpug · pavement profile scanner - pps with the pps we have a lidar...

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