'll 
is relatively low. The beam diameter or spot size is also 
considerably large then for the two other systems included in 
the tests. However, the LMS-Z210 has a much larger field of 
view than the ILRIS-3D and the Cyrax. 
With help of a laptop computer connected to the system and the 
Riegls 3D-RiScan software, the scanner functionality is 
controlled and measurements from the scans are processed and 
visualised. The 3D-RiScan software also includes tools for 
exporting of data. The colour information (RGB-value) in each 
registered point gives possibilities to direct colour textured 3D- 
model generation, e.g. into VRML models. 
Cyrax 2500 
ILRIS-3D 
LMS-Z210 
Wavelength 
532 nm 
1540 nm* 
905 nm* 
Min. range 
1.5 m 
- 
2 m 
Max. range 
100 m 
50 m 
recommende 
d to objects 
with 5%- 
100% 
reflectivity. 
To objects 
with 4% 
reflectivity 
up to 350 m. 
To objects 
with 20% 
reflectivity 
up to 800 m. 
To objects 
with 10% 
reflectivity up 
to 150 m. 
To objects 
with 80% 
reflectivity up 
to 450 m. 
Beam 
diameter 
< 6 mm 
from 0 to 50 
meter. 
15mm@50 
meter. 
20mm@100 
meter. 
40mm@short 
distances. 
300mm@100 
meter. 
Single point 
distance 
accuracy 
±4 mm. 
±10 mm. 
25mm@25 
mm 
resolution + 
distance 
depending 
error 
< ±20ppm. 
Single point 
position 
accuracy 
±6mm@l .5- 
50m range. 
±7mm@50m 
±10mm@10 
0m 
Minimum 
(horizontal/ 
vertical 
scan 
increment) 
0.005 mrad 
0.25 mm 
point-to- 
point spacing 
@50m. 
0.17 mrad 
8.5 mm 
point-to- 
point spacing 
@50m. 
1.256 mrad 
62.8 mm 
point-to-point 
spacing 
(2>50m. 
Field of 
view 
(horizontal/ 
vertical 
angle) 
40°/40° 
40740° 
333780° 
Max. data 
acquisition 
rate 
1000 points 
per second. 
2000 points 
per second. 
28000 points 
per second. 
Mean 9330 
№7 
*The wavelengths of Optech and Riegl are not confirmed. 
Table 1. System specifications. 
2.2.4 Trimble 5600 DR200+ 
The measurement technique used in DR200+ is based on the 
pulsed TOF distance measuring. To reduce the influence of 
background noise a unique method of taking the average of 
many pulses, and determining the shape of the pulse before the 
transit time of flight is calculated, increases the accuracy of the 
system. The distance measuring accuracy of the system is ± 3 
mm + 3 ppm from 5 to 200 meter. 
2.3 Systems range precision and accuracy 
To determine the distance measuring accuracy, distances 
measured with each of the scanner systems were compared to 
distances measured with a total station. Five test targets were 
placed in the area to be scanned as in figure 1. 
S canner Target 3 Target 5 
T* ■ ■ ——- 
Figure 1. Distribution of test targets 
The distance from the scanner to the first test target was 
approximately 5 meter. 
From target 1 to target 2: 
5 m 
From target 1 to target 3: 
25 m 
From target 1 to target 4: 
50 m 
From target 1 to target 5: 
80 m 
Table 2. Approximate distances between test targets. 
The length of the test room limited the range for which the 
systems distance measuring accuracy could be tested. 
At first, one system was placed in position and the area to be 
scanned, including the five test-targets, was scanned 10 times. 
Thereafter the second system was approximately placed in the 
same position and a 10 times scan of the same area was carried 
out. Finally, the third system went through the same process. 
All the scans were made within the same day. 
The test targets were all placed at the same height above the 
floor and the systems approximate origin were placed at the 
same height as the centre of the targets. The test targets were 
levelled and placed as close as possible to be parallel to the 
position for the systems. After the test-targets had been placed 
in position, they were left in the same position throughout the 
whole test. Before scanning, when placed in the actual scanning 
position, the system as well was levelled. The levelling was 
done with help of water level equipment since the tested 
systems was not equipped with any built-in levelling 
possibilities. 
Levelling and positioning was done to make sure that the 
systems measurements were all carried out under almost similar 
conditions. 
The test targets are all made of plain wood and considered 
common material for built environments. Being made by our 
own the test targets did not favour any of the systems. To be 
able to identify specific positions on the targets the centre of the 
target, and a square round the centre, was marked with a thin 
layer of red aerosol spray-paint (see figure 2). Five specific 
positions were later used to measure distances between when 
comparing the scanner system distances with distances 
measured with the total station. 
-35-