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Figure 7. SOKKIA MM30/30R repeatability test in dynamic 
Ripetibilità di misure frontali con distanziometro senza riflettore montato su GIGI 
9000 
mr percorso 1 
6000 | — percorso 2 
5500 | 
distanza misurata (mm) 
5000 | 
  
4500 
4000 | 
  
  
3500 ^ 
conditions 
The repeatability in dynamic conditions results on decimetric 
level, mainly due to the impossibility for the van to run twice 
exactly the same path. 
4.3 First experiments with the IBEO laser scanner 
We have recently acquired an IBEO laser scanner which 
principal characteristics are given below. 
Range: 
0 +40 m (on 5% reflective targets) 
Single shot reproducibility: +/- Sem (10) 
Horizontal field of view: up to 270° 
Some tests have been carried out in order to evaluate its 
employment in building a simple 3d model of the road sides by 
scanning different sections while driving. The accuracy is not 
high enough to resolve road slope, but could be usefully applied 
to determine road-side characteristics. 
  
Figure 8. IBEO laser scanner 
The structure visible in Figure 9 was scanned, setting the scan 
angle to +45° and one measurement/degree; the results are 
shown in Figure 10. The resolution accuracy is within £10 cm, 
as stated in the instruments technical specifications. 
  
  
  
GRID 10 cm 
Figure 9. Laser Scanner Survey Geometry 
  
9e 
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Figure 10. Laser Scanner Surveyed Points 
4.4 Positioning and Attitude Subsystem Test 
As an example of the capability of positioning and attitude 
sensors we drove a particular path. The terrain geometry was as 
appears in Figure 11, the Surveyed Path is shown in Figure 12. 
Due to the particular terrain geometry, we expected to find roll 
and pitch in quadrature: maximum roll on the highest and 
lowest points, maximum pitch on the rightmost and leftmost 
points (in the hypothesis of perfect circles and low velocity).