Calibration experiments of a laser scanner

iii CONTENTS v 1.0 INTRODUCTION 1 2.0 EXPERIMENTAL PARAMETERS AND PROCEDURES 5 2.1 Data Set 1 – Effect of Color on Range Accuracy 6 2.2 Data Set 2 – Effect of Distance (0 m to 60 m) on Range Accuracy 7 2.3 Data Set 3 – Extension of Data Set 2 (60 m to 108 m) 8 2.4 Data Set 4 – Effect of Distance (5 m to 160 m) on Range Accuracy 8 2.5 Data Set 5 – Effect of Distance (10 m to 150 m) on Range Accuracy and Effect of Distance on Intensity Value 9 2.6 Data Set 6 – Effect of Angle Incidence on Accuracy 12 2.7 Data Set 7 – Spatial Correlation 15 2.8 Data Set 8 – Autocorrelation 16 3.0 ANALYSIS AND DISCUSSION OF RESULTS 17 3.1 Color 17 3.1.1 Data Set 1 17 3.1.2 Data Set 4 22 3.1.3 Data Set 5 27 3.1.4 Combined Data Sets 31 3.2 Intensity 32 3.3 Angle of Incidence 35 3.3.1 Data Set 6 35 3.3.2 Data Sets 5 and 6 46 3.4 Beam Divergence 47 3.5 Correlation 54 3.5.1 Temporal Autocorrelation – Data Set 8 55 3.5.2 Spatial Autocorrelation – Data Set 7 57 4.0 CONCLUSIONS AND RESEARCH NEEDS 60 4.1 Summary and Conclusions 60 4.2 Research Needs 61 REFERENCES 63 APPENDIX A 65 APPENDIX B 82