Fusion of terrestrial and UAV-based point clouds for precision mapping and infrastructure inspection

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At present, either of the terrestrial laser scanners (TLS) or unmanned aerial vehicle (UAV)-based**LiDAR/camera systems are used for precision mapping and infrastructure inspection. Unfortunately, however,**both systems suffer from drawbacks, including the lower spatial resolution and complexity of sensor**integration of the UAV-based systems and the mobility and inability to scan dangerous-to-reach areas of TLS.**This research project aims to optimally fuse the point cloud data from both of the TLS and UAV-based**LiDAR/camera systems, which has the potential to overcome the drawbacks of either system alone.**The research will first select various sites representing different operational scenarios (e.g., bridges, dense**vegetation, buildings) for data collection with both of the FARO TLS and UAV-based systems. A number of**ground control points and targets will be established to enhance the image acquisition and accuracy of the point**cloud registration. As a low-cost digital camera will be used onboard the UAV, an accurate and efficient**camera calibration method for all possible operational scenarios will be developed, including the determination**interior orientation elements and distortion parameters. As well, LiDAR data will be corrected for both of the**geometric and radiometric effects. Trimble POSPac UAV software package will be used for post-processing of**the GNSS/MEMS IMU data and for geo-referencing of the imaging and LiDAR data. Pix4D and Autodesk**ReCap Pro software packages will be used to verify the image registration, along with MATLAB and**CloudCompare software. Both of the TLS and UAV-based point cloud data will finally be used to create a**complete 3D model of the scanned structure and surroundings.**The outcome of this research will significantly improve the efficiency of the field workflow, improve the**positioning accuracy, and enhance the inspection and risk assessment procedures of Canada's infrastructure.**This in turn helps making informed decision about infrastructure service and repair.