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The Study of Terrestrial Laser Scanning (TLS) Survey for Three–Dimensional (3D) Building Documentation

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Hendriatiningsih Sadikin, Andri Hernandi, Asep Yusup Saptari, Alfita Puspa Handayani and Sudarman

Sudarman (Indonesia)

FIG Working Week 2015

From the Wisdom of the Ages to the Challenges of the Modern World

Sofia, Bulgaria, 17-21 May 2015

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The Study of Terrestrial Laser Scanning (TLS) Survey for Three-

Dimensional (3D) Building Documentation

Hendriatiningsih SADIKIN, Andri HERNANDI, A Y SAPTARI, Alfita Puspa

HAPSARI, Sudarman SUDARMAN, Indonesia

Keywords: 3D Point Clouds, TLS, Building Documentation, Distance Difference, ETS

SUMMARY

Spatial information data was needed for monitoring structures both for maintenance and

analyzes the condition of the structures. Laser scanning technology is one of the latest

techniques in three-dimensional (3D) survey and mapping and the leading survey technology

in spatial information data. The Terrestrial Laser Scanning (TLS) method is the process to

scan the object and record the 3D point-clouds in large numbers to create the 3D model. In

this study, the point-clouds data process used the Leica-Cyclone 8.1 software, and the

registration technique used target-to-target constraints and filter process to clean the data

noise and outliers by using the fencing techniques. The result of the 3D model is a mesh

model. The 3D solid model and cross section model was created by using the Geo-magic

software. Building dimensions which is the distance in the created model compared with the

actual distance measurement on the ground by using Electronic Total Station (ETS)

instrument. If the distance measurement using by ETS instrument is considered correct, it

showed that the average of the distance difference using by the ETS instrument and distance

in the model is - 25 mm. Standard deviation of the difference distance obtained is ± 1.5 mm.

All distances are measured in the model is acceptable and appropriate with the distance using

by the ETS instrument. The TLS survey produces 3D models for 3D building documentation

as complement as-built drawings.

RINGKASAN Informasi data spasial dibutuhkan untuk memonitor bangunan terutama untuk pemeliharaan

dan menganalisa kondisi bangunan. Teknologi pemindaian laser merupakan salah satu teknik

terkini dalam survey dan pemetaan tiga dimensi (3D). Metode Terrestrial Laser Scanning

(TLS) adalah proses memindai objek dan merekam point clouds 3D dalam jumlah yang

sangat besar untuk membentuk model 3D. Dalam studi ini, pengolahan data point clouds

menggunakan perangkat lunak Leica-Cyclone 8.1 dan teknik registrasi menggunakan teknik

fencing. Model 3D yang dihasilkan adalah model mesh. Model solid 3D dan model cross-

section dilakukan dengan menggunakan perangkat lunak Geo-magic. Dimensi bangunan

berupa jarak dari sisi-sisi bangunan, di ukur pada model 3D dan dibandingkan dengan jarak-

jarak sisi bangunan yang sama di lapangan yang diukur dengan menggunakan alat ukur

Electronic Total Station (ETS). Jarak ukuran menggunakan ETS dianggap yang benar. Rata-

rata dari perbedaan jarak antara ETS dengan model 3D adalah 25 mm dan diperoleh standar

deviasi rata-rata perbedaan jarak adalah ± 1.5 mm, dan masih dalam toleransi. Survey TLS

ini menghasilkan dokumentasi bangunan 3D sebagai pelengkap as-built drawing.


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The Study of Terrestrial Laser Scanning (TLS) Survey for Three-

Dimensional (3D) Building Documentation

Hendriatiningsih SADIKIN, Andri HERNANDI, A Y SAPTARI, Alfita Puspa

HAPSARI, Sudarman SUDARMAN, Indonesia

1. INTRODUCTION

The current technological developments, especially concerning three-dimensional (3D) spatial

information data is needed for a variety of applications. The need of data spatial information

very quickly and with relatively low cost can be done by laser scanner technology. Laser

scanners can record the object's surface with a point-clouds data are a large number and high

accuracy and can be done with a short time (Quintero, 2008). Terrestrial Laser Scanning is a

spatial data acquisition techniques in the earth's surface using a laser beam to measure points

on the scanned object surface. Survey mapping using TLS faster than with conventional

methode and relatively low cost. TLS instrument has components that can be equipped with a

camera, a GPS, so the TLS is regarded as an efficient instrument (Reshetyuk, 2009).

The development of infrastructure is one important aspects of economic growth. Therefore,

investment in infrastructure systems such as factory buildings, office buildings, bridges,

dams, reservoirs, tunnels, pipelines, airports, stadiums and other buildings is the the level

advances of human civilization and the quality reflects the advances in science and

technology. Environmental factors are among the factors that can physically damage the

building, and this can not be avoided (Hendriatiningsih, et.al, 2012). Therefore, a building

documentation such as-built drawings is needed for maintenance, planning or decision-

making in case of unexpected things quickly.

Laser scanning technology is one of the latest innovations in 3D surveys and is currently the

leading technology in the acquisition spatial information data survey. Many types of

instruments that use laser scanning technology with a variety of abilities (Rudolf Steiger,

2003). According Reha Metin Alkan and Gokcen KARSIDAG (2012), the data obtained from

laser scanner, high quality and widely used in various applications, especially surveys

including topographic surveys, environmental and industrial. The advantage of the technique

survey using laser scanning technology can provide complete facilities to perform acquisition

data and can provide data in detail in three-dimensional (3D). In addition, the results can be

obtained quickly and costs can be reduced significantly. Technological innovation currently have

an impact on the traditional survey methods, even in geodetic survey methods that satellite-based

survey system to obtain the 3D coordinates. The survey method using TLS instrument capable of

performing a survey is more accurate, faster and often used for various applications. Surveys using

TLS method allows done with a long distance, the object can be accessed in dangerous location, where

traditional survey techniques can not be done.

To obtain 3D object model and the geometry of the building by using TLS like a as-built drawings for

the purposes of maintenance, planning, monitoring and decision support systems, it is necessary to

study the TLS Surveys for 3D building documentation.


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2. METHODS AND RESULTS

The location studies around the ITB Campus and selected buildings will be modeled as shown

in Figure 1 as follows:

Figure 1 Institute of Technology Bandung location (GoogleMaps, 2014)

The object to be modeled is a Central Library Building located on the Institute Technology of

Bandung Campus. The coordinates approximately are 6° 53' 17.9" S and 107° 36' 38.7" E.

Figure 2 ITB Central Library Building Photo


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The TLS instrument is Laser Scanner Leica HDS Scan station C10, as follows:

Figure 3 Leica HDS Scan station C10 (Source: Leica Geo systems AG, 2011)


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The technical specification of Leica HDS Scan station C10, as shown in Table 1 as follows:

Table 0 Leica HDS Scan station C10 Technical Specification (Source: Leica Geo

systems AG, 2011)


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Supporting equipment used are 2 Leica HDS 6-inch targets, 2 Leica HDS 3-inch targets,

Leica twin pole target, 5 statif and 4 tribrach, as shown in Figure 4, as follows:

Figure 4 Supporting equipment (Source: Leica Geo systems AG, 2011)

To understand the condition and shape of the building to be scanned, first conducted field

orientation. This activity is required standards before conducting measurements as

consideration for technical planning, which covers the establishment of the instrument, where

the target for tie points and the number of scanning will be performed.

The position of the Scan station and the target as shown in Figure 5, as follows:

Figure 5 Scan station (red triangle) and target (blue circle)


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The scanning process is done in the scan-stations ST-1 point and ST-2 point to the object

overlap area and so that the ST-2 point, ST-3point to the ST-11 point and the target are

placed to number T021. The target point to be used, minimum are three targets to solve the

six transformation parameters. In this studies using 4 target points.

Distribution targets as shown in Table 2 as follows:

Table 2 Distribution targets

Scan

Station

Target

1 2 3 4 5 6 7 8

1 T001 T002 T003 T004

2 T001 T002 T003 T004 T005 T006

3 T003 T005 T006 T007 T008 T009

4 T006 T007 T008 T009

5 T006 T007 T008 T009 T010 T011 T012 T013

6 T010 T011 T012 T013

7 T010 T011 T012 T013 T014 T015 T016 T017

8 T014 T015 T016 T017

9 T014 T015 T016 T017 T018 T019 T020 T021

10 T018 T019 T020 T021

11 T018 T019 T020 T021


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The registration process is performed using Leica Cyclone 8.1 software. Overall point cloud

that has been registered has a maximum registration error of 0.005 meters. Total point-clouds

are 52,723,377. The registration error as shown in Table 3, as follows:

Table 3 Error registration

To measure the dimensions of the building, measured distances using the Electronic Total

Station (ETS) and the results are shown in Table 4, as follows:

Table 4 Distances (ETS)

No distance (m)

D1 6.925

D2 2.439

D3 2.488

D4 19.819


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Filtering process performed by fencing technique, which limit the area of the polygon lines,

and determined the outside or the inside to be removed.

After the filtering process, the data obtained point-clouds are free from the noise and outliers,

and the point-clouds are 49,207,533.

Point-clouds data after filtering process as in Figure 6, as follows:

Figure 6 Point-clouds data after filtering


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In modeling, first obtain the 3D surface model. Furthermore, the wrapping in which the

point-clouds to Triangulated Irregular Network (TIN) form to obtain the mesh model as in

Figure 7, as follows:

Figure 7 Surface and mesh models

Model surface

Model mesh


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The Solid model is obtained by using Geo-magic software as in Figure 8, as follows:

Figure 8 Solid model

Moreover, it can be obtained also display a cross section (cutting plane opacity = 35%) as

shown in Figure 9, as follows:

Figure 9 Cross-section

cutting plane

intersection


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The distances are measured in the 3D model, as shown in Figure 10, as follows:

Figure 10 The distances in the 3D model


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The results of the measurement of distances in the 3D model, as shown in Table 5, as follows:

Table 5 Distances in the 3D model

No distance(m)

D1 6.899

D2 2.437

D3 2.490

D4 19.870


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3. DISCUSSION

In this study, performed registration technique is an indirect technique that is the target-to-

target of constraints (Quintero, et.al, 2008), by locating and scanning the target. Registration

stage is to combine the scanned data from multiple scan station. In the registration process,

scan the objects that overlap area between the first scan station and the second, and so on.

Geo-reference process performed in the local coordinate system.

Filtering is a data cleansing point-clouds from noise and outliers are not required to be free

from unwanted data. The method used in filtering is a fencing technique. Fencing techniques

which limit of area used a polygon line and determined the area to be removed, whether inner

or outer area of the polygon line. The total number of point-clouds before filtering are

52.723.377 and after filtering 49,207,533. 3D models before and after the filtering process as

shown in Figure 11, as follows:

Figure 11 3D models before and after filtering

Before filtering

After filtering


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In general, the final product of the 3D modeling process is a mesh surface model. By

connecting all the points in the point-clouds with small triangles (TIN), a surface model or

mesh is generated. This mesh is an interpolation of the points and creates a 3D representation

of the full surface. To obtain a quality of mesh, needs to performed: data cleaning (noise

reduction and removing outliers), meshing / triangulation, hole-filling, optimizing mesh.

To determine the dimensions of the building, the distance measured in the 3D model and

measure the same distance in the field by using the Electronic Total Station (ETS) instrument

(Hendriatiningsih, et.al, 2014), and the difference distance as shown in Table 6, as follows:

Table 6 Difference distance (dD)

No Difference distance

(m)

dD1 0.026

dD2 0.002

dD3 - 0.002

dD4 - 0.051

The mean of difference distances is - 0.025 m and the standard deviation of difference

distance σdD is ± 0.0015 m or 1.5 mm. The distances in 3D model are still in the range of

tolerance or the distance appropriate to the distance measurement results ETS.

4. CONCLUCION

The TLS survey produces 3D models for 3D building documentation as complement as-

built drawings. The average of the distance difference using by the ETS instrument and

distance in the model is - 25 mm. Standard deviation of the difference distance obtained is

± 1.5 mm. All distances are measured in the model is acceptable and appropriate with the

distance using by the ETS instrument.

5. ACKNOWLEDGEMENT

Thanks to Gamal and Chakras Andika Kuntjoro that has helped in data acquisition and data

processing.


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REFERENCES

Alkan R H and Karsidag G, 2012, Analysis of The Accuracy of Terrestrial Laser Scanning

Measurements, FIG Working Week 2012 - Commission: 6 and 5 - Knowing to

manage the territory, protect the environment, evaluate the cultural heritage Rome,

Italy, 6-10 May 2012, Editors: Prof. Rudolf Staiger & Prof. Volker Schwieger, TS07A

- Laser Scanners I, 6097, 2012 (Conference Proceedings ISBN 97887-90907-98-3).

Leica Geosystems AG., 2011, Leica Scan Station C10: The All-in-one Laser Scanner for Any

Application,Heerbrugg,Switzerland,www.leica-geosystems.com/hds.(February,2014).

Quintero M., Genechten B V., Bruyne M. D., Ronald P., Hankar M., Barnes S., 2008,

Theory And Practice On Terrestrial Laser Scanning, Learning Tools for Advanced

Three-dimensional Surveying in Risk Awareness Project (3DRiskMapping), 2008.

Reshetyuk, Y., 2009, Terrestrial Laser Scanning, Error Source, Self - calibration, And

Direct Georeferencing. Saarbrucken, Germany: VDM Verlag Dr. Muller.

Rudolf Staiger, 2003., Terrestrial Laser Scanning–Technology, System and Application,

FIG Regional Conference Proceedings ISBN 87-90907-28-0, Marrakech, Morocco,

December 2-5, 2003, Editors: Taïb Tachalait Dan J. Schnurr, TS 12.3 – Positioning

and Measurement Technologies and Practices, 2003.

SADIKIN Hendriatiningsih., 2012, As-buit Drawing Bangunan Untuk Pendaftaran Hak Milik

Atas Satuan Rumah Susun Dalam Kadaster 3-Dimensi, Indonesian Journal Of

Geospatial, Program Studi Teknik Geodesi Geomatika, Fakultas Ilmu dan Teknik

Kebumian, Institut Teknologi Bandung, Vol. 2, No.1, Hal.1, Juli 2012, ISSN: 2089-

5054.

SADIKIN Hendriatiningsih., Agoes Soedomo, Sudarman, Andri Hernandi, 2012, Studi

Awal Survey Terrestrial Untuk Keperluan Pemantauan Deformasi Jembatan,

Penelitian Riset dan Inovasi, LPPM - ITB, 2012. SADIKIN Hendriatiningsih., Irwan Gumilar, Dwi Wisayantono, Elok Lestari P, 2014, Survey

Pemetaan Model Bangunan 3D metode Terrestrial Laser Scanner untuk dokumentasi

As-Built Drawing, Jurnal Teknik Sipil, Jurnal Teoritis dan Terapan Bidang Rekayasa

Sipil, Vol.21 No.2, Hal.95-178, Agustus 2014, ISSN: 0853-2982

http://www.leica-geosystems.com/hds


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BIOGRAPHICAL NOTES

1. S.Hendriatiningsih

- Academic Background: B.Sc, M.Sc and Ph.D on Geodesy and Geomatics

Engineering from Institute of Technology of Bandung;

- Current Position: Associate Professor at Institute of Technology of Bandung and

Head of Surveying and Cadastre Research Division, Faculty of Earth Sciences and

Technology, Institute of Technology of Bandung;

- Membership of Indonesian Surveyor Association, Indonesian Geodetic Engineer

Association.

2. Andri H

- Academic Background: B.Sc on Geodesy and Geomatics Engineering from

Institute of Technology of Bandung, Master of Urban Planning from Institute of

Technology of Bandung and Ph.D on Photogrametry at Institute of Technology of

Bandung;

- Current Position: Assistance Professor at Surveying and Cadastre Research

Division, Faculty of Earth Sciences and Technology, Institute of Technology of

Bandung.

- Membership of Indonesian Surveyor Association, Indonesian Geodetic Engineer

Association

3. AY Saptari

- Academic Background: Graduates on Geodesy and Geomatics Engineering from

Institute Technology of Bandung and Master Of Science in Photogrammetry And

Geoinformatics of HFT Stuttgart;

- Current Position: Academic Assistant at Surveying and Cadastre Research

Division, Faculty of Earth Sciences and Technology, Institute Technology of

Bandung and Ph.D candidate on Remote Sensing at Institute Technology of

Bandung;

- Membership of Indonesian Surveyor Association; 4. Alfita HP


- Institute Technology of Bandung and Master Of Science in Land Administration at

Institute of Technology of Bandung;


Division, Faculty of Earth Sciences and Technology,Institute Technology of

Bandung and Ph.D candidate on Surveying & Cadastre at Institute Technology of

Bandung;

- Membership of Indonesian Surveyor Association; 5. Sudarman


- Institute Technology of Bandung and Master Of Science in Land Administration at

Institute of Technology of Bandung;


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Division, Faculty of Earth Sciences and Technology, Institute Technology of

Bandung;

- Membership of Indonesian Surveyor Association;

CONTACTS

Dr. Ir. Sadikin Hendriatiningsih Msc.

Institute of Technology Bandung

Ganesha Street number 10

Bandung, Indonesia

Tel. +620222530701, ext 3632

Fax + 620222530701

Email: [email protected]

mailto:[email protected]

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