milev studnicka

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

Thank you for your attention