Investigation of TLS Intensity Data and Distance Measurement Errors from Target Specular Reflections

Terrestrial laser scanners (TLSs) can provide accurate and high-resolution data by measuring the distances (ranges) between the scanned points and the scanner center using time-of-flight or phase-shift-based methods. Distance measurement accuracy is of vital importance in TLSs and mainly influenced by instrument mechanism, atmospheric conditions, scanning geometry, and target surface properties. In general, existing commercial TLSs can achieve millimeter precision. However, significant errors (centimeter and even decimeter levels) beyond the instruments&rsquo: nominal accuracy exist in distance observations for targets with highly reflective surfaces whose specular reflections are dominant because these reflections can increase the backscattered laser signal power considerably and cause further disorder in the echo detection and recognition by TLS photodetectors. Apart from distance, the intensity value derived from the backscattered signal and influenced by the same factors as that of the distance measurement errors is recorded by TLSs. A certain link exists between the two instrumental observations. In this study, the anomalous distance measurement errors caused by target specular reflections are explored. The different planar reflective targets scanned by a Faro Focus3D 120 terrestrial scanner are used to experimentally investigate the relationship between the original intensity values and the distance measurement errors. Results imply that the distance measurement errors caused by specular reflections are not as erratic as they ostensibly seem. On the contrary, distance measurement errors are strongly related to the original intensity values. A polynomial can be established to empirically model the relationship between the original intensity data and the distance measurement errors. With use of the original intensity to compensate for the measured distance observations, the point cloud data accuracy can be improved by approximately 55.52%.