TERRESTRIAL 3D LASER SCANNING - DATA ACQUISITION AND OBJECT 
MODELLING FOR INDUSTRIAL AS-BUILT DOCUMENTATION AND 
ARCHITECTURAL APPLICATIONS 
H. Sternberg“, Th. Kersten“, I. Jahn b R. Kinzel® 
? Department of Geomatics, Hamburg University of Applied Sciences, Hebebrandstr. 1, D - 22297 Hamburg, Germany 
[h.sternberg, t.kersten]@rzen.haw-hamburg.de 
° GDV Ingenieurgesellschaft Holst mbH, TremskampS5, D - 23611 Bad Schwartau, Germany 
[gdv_kinzel, gdv_jahn]@t-online.de 
ISPRS ThS-17 Laser Scanning Acquisition and Modelling Techniques 
KEY WORDS: Accuracy, Application, Cultural Heritage, Industrial, Laser scanning, Terrestrial, Three-dimensional 
ABSTRACT: 
In this paper the investigations of two projects using the terrestrial 3D laser scanning system "CYRAX 2500®" from Leica 
Geosystems are presented. The CYRAX 2500 is tested in 3D data acquisition and object modelling for industrial as-built 
documentation and for an architectural application. The major aspects of these investigations were the accuracy of point 
determination and object modelling, the degree of automation in data acquisition and object modelling, and consequently the overall 
efficiency of the laser scanning system and its related software tools. With the scanner the two objects were recorded three- 
dimensionally as point clouds. The registration and modelling of the industrial facilities (pipelines of the company Boie in Lübeck, 
Germany) could be performed nearly automatically with the software Cyclone (version 4.0.2), which belongs to the scanning 
system. The modelling of the architectural object (Holstentor in Lübeck) had to be carried out mostly manually in combination with 
the CAD program AutoCAD. The two projects demonstrated that the Cyrax laser scanning system is especial suitable for detailed 
3D recording and modelling of industrial facilities. Due to its measuring precision and its high point density, the Cyrax 2500 
represents a good alternative and supplement to classic construction surveying and to photogrammetric data acquisition. The two 
projects described were performed in cooperation between the Hamburg University of Applied Sciences, Department of Geomatics, 
and the engineering office GDV Ingenieurgesellschaft Holst mbH, Bad Schwartau, Germany. 
1. INTRODUCTION 2. SCANNING OBJECTS 
Recent developments in computer technology provide Two objects for different applications were scanned in order to 
continually updating possibilities for creating virtual 3D models judge the versatility and performance of terrestrial laser 
or worlds. Since the 1990's terrestrial laser scanners are scanners. The recording of industrial pipelines of the company 
increasingly available on the market as an efficient 3D Boie in Lübeck (Fig. 1) represents an example of as-built 
measurement system in competition with or as an alternative documentation, while the scanning of the Holstentor in Lübeck 
option to photogrammetry and/or geodetic methods. Terrestrial (Fig. 2) is an example of the recording of historical buildings 
laser scanners offer the fascinating possibility of measuring (cultural heritage). 
millions of points within short time periods. Thus, it is possible 
to record complete 3D objects efficiently. These systems are 2.1 Industrial Facility 
beginning to dominate the market in a range of applications 
such as in the mining industry, industrial as-built- 
documentation, archaeology, architecture, care of monuments, 
automobile and mechanical engineering, and also in creation of 
virtual scenes, e.g. single objects as points of interest for 3D stations (Fig. 1). 
guiding assistance of car navigation systems. However, detailed 
investigations into accuracies and behaviour of such measuring 
systems must show whether these systems fulfil various project 
requirements and whether the technical specifications indicated generated by conventional tacheometric measurements through 
by the system manufacturers are correct. Some authors (Boehler the surveying office Holst und Helten, Bad Schwartau at map 
et al. 2003, Johansson 2003, Lichti et al. 2003, and Kersten et scale 1:500. A geo-referenced 3D model of the facilities was 
al. 2004) have already reported first investigations into generated from laser scanner data in project processing that is 
also suitable for virtual planning and reconstruction measures. 
The company Boie in Lübeck stores liquid propane on an area 
of approx. 100m x 100m up to 2000m'. The pipelines run from 
4 underground tanks over approx. 200m length to the filling 
Maps of these facilities were so far only available in analogous 
form and as abstract flow patterns. A map of the terrain was 
terrestrial laser scanners, while publications about experiences 
with laser scanners are summarized in the conference 
proceedings of the "Oldenburger 3D-Tage" (Luhmann 2002, 2.2 Historical Building (Cultural Heritage) 
Luhmann 2003, Luhmann 2004) and the Optical 3D- 
Measurement Techniques V and VI (Gruen and Kahmen 2001, 
Gruen and Kahmen 2003). 
The Holstentor (Fig. 2), a landmark of the Hanseatic cily 
Lübeck, is one of the best known medieval architectural 
monuments in Northern Germany. The double-towered gate 
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Fig