Performs decomposition of the full waveform signal and provides 3D coordinates (scanner system) and additional attributes for each return.
Laser scanners emit short laser pulses, which travel through the atmosphere, interact with the surface and the backscattered echo is detected at the scanners receiving unit. The range to the target can than be calculated from the time-of-travel of the laser signal. In discrete echo systems the echo detection is realized by hardware components whereas full-waveform scanners record the entire echo waveform, typically in 1 nanosecond intervals (c.f. Figure 1). This enables sophisticated signal analysis in the post processing.
The basic input for Module Fullwave is the raw full-waveform file (parameter inFile). Currently only Riegl Q-line instruments (e.g., LMS-Q 560/680i/780/1560) based on SDF (Sample Data File) are supported. The raw data are analyzed using the well-established method of gaussian decomposition. Gaussian decomposition provides the location (return time, range) as well as additional information about the signal strength (amplitude) and signal broadening (echo width) for each echo (c.f. Figure 1). For each extracted echo the following data fields are written to the output file (parameter outFile) either in an internal measure block oriented format (MB/SOCS) or in Riegl SDC (sample data coordinate) format (parameter oFormat):
By default, the entire recorded waveform information is processed. However, the precessing can be limited to a certain range of pulses (timeRange). Additionally, the number of extracted echoes can be controlled via a detection threshold (detectThrLow).
Some scanners allow for multiple pulses in air (multiple-time around, MTA). This technique is supported by opalsFullwave
Possible values: gaussian ........... Gaussian decomposition, standard asdf ............... ASDF only (no pulse width) enhancedGaussian ... Gaussian decompostion, ASDF echo detectionNote that echo width estimation is only supported for gaussian and enhancedGaussion but not for asdf(Averaged Square Difference Function).
All data used in the following examples are located in the $OPALS_ROOT/demo/
directory of the OPALS distribution.
We start from the given demo file Dischmatal_fwf.sdf
. First, Module Fullwave has to be applied to this file in order to generate the file Dischmatal_fwf.sdc
, i.e. a point cloud in the Scanner's Own Coordinate System (SOCS):
After this step, Module DirectGeoref has to be applied to transform the SOCS point cloud to a superior coordinate system, e.g. the corresponding UTM projection:
In this example, we have a Down-Front-Right scanner system (without tilting and time lag).
As result, we obtain the text file Dischmatal.fwf
containing the georeferenced point cloud.
W. Wagner, A. Ulrich, V. Ducic, T. Melzer, N. Studnicka: Gaussian Decomposition and Calibration of a Novel Small-Footprint Full-Waveform Digitising Airborne Laser Scanner; ISPRS Journal of Photogrammetry and Remote Sensing, 60 (2006), 2; 100 - 112.
A. Roncat, G. Bergauer, N. Pfeifer: Retrieval of the Backscatter Cross-Section in Full-Waveform Lidar Data using B-Splines"; ISPRS Commission III Symposium PCV 2010 -- Photogrammetric Computer Vision and Image Analysis, Paris (invited); in: "IAPRS Volume XXXVIII Part 3B", (2010), ISSN: 1682-1750; 137 - 142.
P. Rieger, A. Ullrich: A novel range ambiguity resolution technique applying pulse-position modulation in time-of-flight ranging applications. Proc. SPIE Vol. 8379 (2012). doi:10.1117/12.919140