Abstract
Performing accurate measurements on non-planar targets using a robotic total station in reflectorless mode is prone to errors. Besides requiring a fully reflected laser beam of the electronic distance meter, a proper orientation of the pan-tilt unit is required for each individual accurate 3D point measurement. Dominant physical 3D structures like corners and edges often don’t fulfill these requirements and are not directly measurable.
In this work, three algorithms and user interfaces are evaluated through simulation and physical measurements for simple and efficient construction-side measurement correction of systematic errors. We incorporate additional measurements close to the non-measurable target, and our approach does not require any post-processing of single-point measurements. Our experimental results prove that the systematic error can be lowered by almost an order of magnitude by using support geometries, i.e. incorporating a 3D point, a 3D line or a 3D plane as additional measurements.
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- 1.
Unity3D and MATLAB can be used with gRPC by compiling the abstraction layer to shared C++ libraries.
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The analysis does not follow the ISO 17123 standard [17], since we conduct only a comparative studies of the proposed methods with non-direct measurable targets.
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Analogue to GUM, we use the same symbol is as the physical quantity and as the random variable for economy of notation [18].
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Higher precision arithmetic require explicit implementation of the scene graph and related operations.
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MATLAB standard settings for box plots, function boxplot, statistics toolbox.
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Note that we use a half-set for our evaluations, since we do not use the second telescope face (face right).
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Note that we performed the ground truth measurements immediately before the experiments, to ensure that errors due to changes in environmental conditions are negligible.
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Acknowledgements
This work was enabled by the Competence Center VRVis. VRVis is funded by BMVIT, BMWFW, Styria, SFG and Vienna Business Agency under the scope of COMET - Competence Centers for Excellent Technologies (854174) which is managed by FFG.
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Klug, C., Schmalstieg, D., Gloor, T., Arth, C. (2019). On Using 3D Support Geometries for Measuring Human-Made Corner Structures with a Robotic Total Station. In: Cláudio, A., et al. Computer Vision, Imaging and Computer Graphics – Theory and Applications. VISIGRAPP 2017. Communications in Computer and Information Science, vol 983. Springer, Cham. https://doi.org/10.1007/978-3-030-12209-6_17
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