milev studnicka
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Rail Infrastructure Measurment System
based on RIEGL VMX-450
Dr. Ivo Milev, Nikolaus Studnicka, Gerald Zach
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Railway scanning
Riegl railway background
Approx. 1990
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Railway scanning
Challenges in railway scanning
• Low variation in direction -> drift of heading angle
• No “on-the-fly” system calibration
• GNSS visibility in tunnels
• No DMI
• Transformation to the railway coordinate system
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Railway scanning
Registration MLS
Registration by usingsurveying poles on control points
Road Rail track
Registration by using the planned rail axis
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Railway scanning
VMX-250/450 MLS System
GNSS receiver
IMU
mounting platform
laserscanner
DMI
fully-calibrated Measuring Head
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Railway scanning
VMX-250/450 MLS System
long term stability of the VMX system calibration:“stable for ever”
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Railway scanning
VMX-250/450 MLS SystemData acquisition with RiACQUIRE and touchscreen operation
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Railway scanning
Product specification
Scanners 2 x RIEGL VQ-250 2 x RIEGL VQ-450
Effective Meas. Rate 600 kHz (2 x 300 kHz) 1.1 MHz (2 x 550 kHz)
Scanrate 200 Hz (2 x 100 Lines / sec) 400 Hz (2 x 200 Lines / sec)
Max. Range 500 m @ r ³ 80% & 100 kHz 75 m @ r ³ 10% & 300 kHz
800 m @ r ³ 80% & 300 kHz140 m @ r ³ 10% & 300 kHz
Accuracy 10 mm 8 mm
Precision 5 mm
Position (absolute) typ. 20-50 mm
Position (relative) typ. 10 mm
Roll & Pitch 0.005°
Heading 0.015°
Laser Class 1 (eye safe)
Camera System (optional) Up to 6 cameras with 5 megapixels
INS
/GN
SS
perf
orm
ance
VMX-450VMX-250
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Railway scanning
Product specification
LASER
analog todigital conversion
photo detector
SIGNAL PROCESSING
rotating mirror
scan
ner i
nstr
umen
t
target object
emitted pulse
echo return TOFg tv
R2
online waveform processing
multi target capability
calibrated amplitude & reflectance reading
pulse shape deviation
echo digitization
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Railway scanning
Carried out projects: Germany
Railway ScanningSept, 2011 Frankfurt / Germany
compact design-> easy transport and set up-> installation on standard duty trailers
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Railway scanning
Calibrated reflectance reading
point cloud encoded by reflectance: values > 0 dB in red
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Railway scanning
Calibrated reflectance reading
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Railway scanning
Pulse shape deviation
point filter based on deviation values
BEFORE deviation filter
AFTER deviation filter
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Railway scanning
Carried out projects: Germany
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Railway scanning
Carried out projects: Germany
You can find our application movies at:www.youtube.com/user/RieglLMS
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Railway scanning
Carried out projects: GermanyTime for setup 2 persons, 1.5 hours in total
Speed of the train 25km/h (limited by track motor car)
Time for data acquisition 1 operator for RiACQUIRE, 1 driver, 1 hour in total
Section processed Station Griesheim (0.6 km, 1 record)
Processed data volume scan data 4.7 GB, images 1.5 GB, of used record in section processed
Time for data processing 1 person for post-processing of data set,15 minutes for processing including export into LAS format, + extra 15 minutes computation time for coloring the point cloud
Points in total 35 Mio. Points (1 record used)
Point density on ground approx. 3,600 points / m2 (close to trajectory)
Tasks & Products: Automatic extraction of rail axis, fitment to rail coordinate system
Time for processing: 1 person (only for starting tasks)0.5 hours computation time
Tasks & Products: Automatic collision detection based on user-defined wagon shapes; Rail-axis based 3D Measurements; Clearance to platform corner, poles, wires, etc.
Time for processing: 1 person, 5 minutes for automatic collision detection;further measurements any time on demand
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Railway scanning
Technet-rail product line
• SiRailScan and SiRailView
• Analyzing point clouds, modeling alignment
• Atrack-R and Verm.esn
• Analyze polylines and recover track elements
• SiRailManager
• Managing scan data and additional information
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Railway scanning
SiRailScanAnalyzing and processing point clouds
Rail detection for axis calculation designed as an adjustment process
• Detection of rails and infrastructure objects
• Calculation of axis and axis related measurments
• Collision detection with any wagon shape
• Ortho views and sections
• Several import and export interfaces
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Railway scanning
SiRailScan
Calculation: rails and axis
Analyzing and processing point clouds
• Detection of rails and infrastructure objects
• Calculation of axis and axis related measurments
• Collision detection with any wagon shape
• Ortho views and sections
• Several import and export interfaces
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Railway scanning
SiRailScan
Perpendicular measurement of distance and height above axis to any point (measurement is marked with white line)
Analyzing and processing point clouds
• Detection of rails and infrastructure objects
• Calculation of axis and axis related measurments
• Collision detection with any wagon shape
• Ortho views and sections
• Several import and export interfaces
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Railway scanning
SiRailScan
Disalingment values between the vectorized rail track axis and power lines , sag – important for the maintenance cycles
Analyzing and processing point clouds
• Detection of rails and infrastructure objects
• Calculation of axis and axis related measurments
• Collision detection with any wagon shape
• Ortho views and sections
• Several import and export interfaces
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Railway scanning
SiRailScan
Collision points will be classified and separated for easy identification and further analysis such as station referred vectorizations (LUE – “Lichtraum” units)
Analyzing and processing point clouds
• Detection of rails and infrastructure objects
• Calculation of axis and axis related measurments
• Collision detection with any wagon shape
• Ortho views and sections
• Several import and export interfaces
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Railway scanning
SiRailScanAnalyzing and processing point clouds
• Detection of rails and infrastructure objects
• Calculation of axis and axis related measurments
• Collision detection with any wagon shape
• Ortho views and sections
• Several import and export interfaces Create any orthoviews and sections
such as station referred sections or sections along a line
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Railway scanning
Spatial database; Environmental Resource Information Network
infrastructuredata base
data collection/measurement
trajectory
collision distances track geometry
platform edge
check of single points
3D scans images
other sources
LIRAplanimetric
drawings and maps
geo coded infrastructure
data
bridges tunnels switches other
objects
photos
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Railway scanning
SiRailManager
• Combine your point clouds with web based map services and planimetric drawings
• Client-Server or web based access to all point cloud data (with SiRailViewer)
Managing your kinematic point clouds
Merge and manage your rail way infrastructure with existing measurements (orange lines)
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Railway scanning
SiRailManager
• Combine your point clouds with web based map services and planimetric drawings
• Client-Server or web based access to all point cloud data (with SiRailViewer)
Managing your kinematic point clouds
Visualize the timestampt and georeferenced photos from the measurement system
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Railway scanning
SiRailManager
• Combine your point clouds with web based map services and planimetric drawings
• Client-Server or web based access to all point cloud data (with SiRailViewer)
Managing your kinematic point clouds
Easy data access and analyse - everywhere
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Railway scanning
SiRailManager
• Combine your point clouds with web based map services and planimetric drawings
• Client-Server or web based access to all point cloud data (with SiRailViewer)
Managing your kinematic point clouds
Select the background layer you need
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Railway scanning
Integrity of the railway navigation databaseAmbiguity free system determination
Oracle and PostgreSQL based
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Railway scanning
SiRailViewer
• Perpendiculare measurement to wagon profile
• Detection of minimum distance to the platform borderline
• Collision detection• 3D distance
measurement and measurement to geometries
Axis based analysis in axis refered point clouds
After calculating the axis with SiRailScan, any point cloud can be visualized and analyzed in axis referred mode (Axis point coordinates: X = 0, Y = chainage, Z = 0)
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Railway scanning
SiRailViewer
• Perpendiculare measurement to wagon profile
• Detection of minimum distance to the platform borderline
• Collision detection• 3D distance
measurement and measurement to geometries
Axis based analysis in axis refered point clouds
After calculating the axis with SiRailScan, any poincloud can be visualized and analysed in axis refered mode. As example collor based distances to the platform edge
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Railway scanning
SiRailViewer
• Perpendiculare measurement to wagon profile
• Detection of minimum distance to the platform borderline
• Collision detection• 3D distance
measurement and measurement to geometries
Axis based analysis in axis refered point clouds
After calculating the axis with SiRailScan, any poincloud can be visualized and analysed in axis refered mode (Axis point coordinates: X = 0, Y = chainage, Z = 0)
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Railway scanning
SiRailViewer
• Perpendiculare measurement to wagon profile
• Detection of minimum distance to the platform borderline
• Collision detection• 3D distance
measurement and measurement to geometries
Axis based analysis in axis refered point clouds
Cleareance frame definition for Swiss
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Railway scanning
SiRailViewer
• Perpendiculare measurement to wagon profile
• Detection of minimum distance to the platform borderline
• Collision detection• 3D distance
measurement and measurement to geometries
Axis based analysis in axis refered point clouds
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Railway scanning
Curvature elements based on the recorded INS data
Axis based analysis
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Railway scanning
SiRailLayers
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Railway scanning
SiRailLayers
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Railway scanning
SiRailLayers
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Railway scanning
SiRailLayers - PDF Ausgabe
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Railway scanning
Android based applications
3.2 Honeycomb4.0 Ice Cream Sandwich
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Railway scanning
Android based applications
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Railway scanning
Conclusion
• Hardware: fully-calibrated measuring head – quick setup – mm accuracy• Complete automated processes in real time and post processing• Mounting configuration of Laser Scanners allows acquisition of traffic signs
perpendicular to trajectory• Reliable survey of the environment – analyzing in 3D – clearance analysis,
collision tests, distances, extract geometrical elements• 3D spatial data based on several data sources/ single databases• Harmonized information system for GNSS based navigation and maintenance• Android based mass market application based on these results but still for
engineers
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Thank you for your attention