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Title
New perspectives to save cultural heritage
Author
Altan, M. Orhan

CIPA 2003 XIX th International Symposium, 30 September - 04 October, 2003, Antalya, Turkey
Since large deviations were observed on a rubber traffic cone
with orange and white stripes, this object (not a plane) was also
added to the test procedure. Similar effects can be observed
when range poles coated with “warning” color are scanned.
4. RESULTS
4.1 Instruments in test
For the tests we selected all laser scanners (working either on
the time-of-flight or triangulation principle) that are able to
record points at a 10 m range. According to the list supplied by
our web site (WWW, 2003) this comprises about one dozen
different instruments. The following list was created at the time
of the deadline of this publication (June 30 th , 2003). Updates
will be published in the web (WWW, 2003).
Manufacturer
Type
already
tested
tests in
prepar.
Callidus Precision Systems
Callidus
2(u)
Cyra Technologies
Cyrax2500
l(o),l(m)
Mensi
S25
1(0)
Mensi
GS 100
Km)
Optech
ILRIS-3D
Km)
Riegl
LMS-Z210
l(u)
Riegl
LMS-Z360
1 (m)
Zoller+Froehlich GmbH
Imager 5003
Km)
Total Number
7
3
Table 1 : Number of scanners in the tests (o = owned by i3mainz,
m = instrument made available by manufacturer, u = by user)
4.2 Angular accuracy
Manufacturer
Type
vert.
dist.
horiz.
dist.
max.
diff.
Callidus Precision Syst.
Callidus (1)
5.6“
4.3 a
12,2 a
Callidus Precision Syst.
Callidus (2)
9.9 a
2.5 a
18.3 a
Cyra Technologies
Cyrax2500 (1)
0.8
0.8
1.6
Cyra Technologies
Cyrax2500 (2)
0.5
0.5
1.1
Mensi
S25
3.8 b
3.4 b
9.2 b
Mensi
GS 100
1.9
2.3
3.3
Riegl
LMS-Z210
10.2 a
16.8 a
27.1 a
Table 2: Standard deviations (mm) of at least 14 independent
vertical and 14 independent horizontal distances (orthogonal to
range) between two spheres.
d Because of poor resolution only valid for short ranges!
b Might be influenced by poor range accuracy at far range. Much better
for close ranges (e.g. 0.8 mm vert, and 0.2 mm horiz. at 4 m range)
Fig. 9: Measuring noise in range direction (std. dev. for a single
point) for different scanners on gray surface (40% reflectivity).
4.3 Range accuracy
Manufacturer
Type
dose
<10m
far
10-50m
max.
diff.
Callidus Precision Syst.
Callidus (1)
1.5
2.6
Callidus Precision Syst.
Callidus (2)
2.8
. a
5.9
Cyra Technologies
Cyrax2500 (1)
0.6
1.1
2.3
Cyra Technologies
Cyrax2500 (2)
0.4
0.5
0.9
Mensi
S25
1.4 b
4.6 C
7.7 C
Mensi
GS 100
2.6
2.0
8.2
Riegl
LMS-Z210
19.7
. !l
40.4
Table 3: Difference between known and scanned distances in
range direction. Std. dev. (mm) of at least 12 independent short
distances between two spheres in close range and 14 indepen
dent short distances in far range.
d Modeling of spheres not possible for far ranges due to poor resolution.
b But 0.2 mm at 4 m range, 0.5 mm at 6 m range. c At 22m range.
Manufacturer
Type
zero error
sphere
plane
Callidus Precision Syst.
Callidus (1)
-7
b
Callidus Precision Syst.
Callidus (2)
-16
0
Mensi
S25
+4
-2
Mensi
GS 100
-16
b
Riegl
LMS-Z210
+7 2 a
+4
Table 4: Constant (zero) error (mm) for instruments that can
measure distances on two different sides of the instrument.
Positive sign means range is measured too short.
“Very poor modeling accuracy. b Not determined.
4.4 Resolution
Manufacturer
Type
Reso
lution
Edge
quality
Diam.
in mm
Callidus Prec. Syst.
Callidus (1)
poor
poor
97.9
Callidus Prec. Syst.
Callidus (2)
poor
poor
102.2
Cyra Technologies
Cyrax2500 (1)
good
average
100.5
Cyra Technologies
Cyrax2500 (2)
good
average
97.7
Mensi
S25
good
average
101.5
Mensi
GS 100
good
average
103.7
Riegl
LMS-Z210
poor
P.P- 0 - r -..
n.a.
Table 5: Evaluation of resolution and edge quality. Diameter for
100 mm cylinder modeled from point cloud.
Fig. 11: Typical examples for resolution results (see fig. 6).
Upper: good quality. Center: average quality.
Lower: poor quality