LIDAR DATA

PROCESSING

LIDAR DATA PROCESSING

Table of Contents:
1 Introduction and General overview of Lidar.
2 LIDAR Project Workflow.
3
4
5
6
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About Software we use :

TerraMatch.
TerraScan.
TerraModel.
TerraPhoto.
LIDAR Projects Applications.

Introduction and General overview of LIDAR:

Basic principle of lidar is speed is equal to distance upon time.
Speed of light is know, time taken to hit an object is measured.
This way distance of objects can be calculated in the form of
point clouds.

Before we discuss Lidar, let us have a look on the virtual reality of the
land and surface. The following pictures show the difference between
the virtual reality made possible by Lidar and a photographic image.

(Virtual Reality vs. photographic image)

(Virtual City from 3-D City modeling)

(Virtual Elevation Model)

(Laser Scanning Surface Model at Coastal Area)

(Laser Scanning Surface Model at Forest Area.)

The following figure illustrates the principle of height data capture
through Lidar.

Airborne Laser Scanning works on the principle of Laser pulse. Laser

pulse get reflected back to the sensor after hitting the terrain objects.
There can be single, double or multiple returns of the each laser pulse
as shown below:

LIDAR Principle:
LIDAR has the following main components:
.
.
.
.
.

GPS
INS
Laser Transceiver
Control Points
Calibration

1.
2.
3.
4.
5.
6.

Lidar Transceiver Generates Laser beam and captures

Laser energy
scattered/reflected
from target.
Scanner
- Moves Laser beam across aircraft track.
POS
- Measures sensor position and orientation.
Operator I/F
- Permits operator interaction
(control/monitor) with systems
Data Storage
- Captures all airborne system data
required for generation of
X, Y, Z target coordinates.
Computer
- Integrates/Controls interaction of all of the
above.

Single return:

Laser pulse will return directly to the sensor after hitting the building
tops.

Multiple returns:
The same pulse returns n number of times after hitting the ground.
Single returns are obtained when the entire foot-print of laser beam
hits one surface (viz., building roof top). Whereas multiple returns are
obtained when the same foot-print hits multiple sutfaces as shown in
the figure.

These are the returns for high vegetation area. We can observe here
multiple returns of laser pulse. Blue color pulse is the first pulse returns
and red color pulse is the last pulse.

This figure illustrates the capability of penetration of vegetation by

laser pulse.
LIDAR Project Workflow:

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(First and Last returns shaded surface.)

(Last returns shaded surface)

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TerraMatch:
TerraMatch solves systematic errors in position, orientation or mirror scale.
TerraMatch is employed to correct the following errors:

Errors in laser distance measurement

Scanning mirror errors
Errors in position (GPS)
Errors in orientation (INS):
o Scanner / IMU misalignment (H, R, P)
o Heading, roll, pitch (H,R,P) and dz correction for each flight
line / whole data set.

Requirement for solving these Errors

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Multiple flightlines with overlap

Time stamped trajectory information
(a) Time x y z [h r p]
Laser points linked to trajectory position
(a) Flight line number matching trajectory number
(b) Time stamp
Trajectories
Laser points
Linked to trajectories
Surfaces classified
Optional known points

It solves the following Algorithm Parameters.

Easting shift
Easting drift
Northing shift
Northing drift
Elevation shift
Elevation drift
Heading shift
Heading drift
Roll shift
Roll drift
Pitch shift
Pitch drift
Mirror scale
Process of solving TerraMatch Corrections.
1. Open the corresponding MicroStation Dgn file.
2. Load TerraScan and TerraMatch Through MDL application or key
in mdl load TerraScan and mdl load TerraMatch.
TerraMatch Tool

TerraScan Tool

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3. Load LAS model or Point cloud through File/Read points from

TerraScan main window.

4. After loading the points, view the points by flight line so that we
can clearly identify the number of flight lines involved in particular
project.
5. For viewing go to TerraScan Main Window/View/Display mode.

6. We need Preliminary Classification and Ground classification for

better result of Tmatch Corrections.
7. We should classify the Raw Data into Ground and Non Ground
points. These Ground points are the reference of known points. For
Ground classification click here. Building classification is the
Preliminary Classification.
8. For classification of Buildings attach the Geo referenced image or
make the cross-section view, so that we can identify the buildings in
isometric view. And go for classification tool Classify Fence.
Manually classify a few buildings to act as reference (known points).
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9. Load Trajectories folder by Manage Trajectories of TerraScan tool.

10. These Trajectories are obtained while flying (This is included in

flight planning).
11. After loading the Trajectories go for Tmatch correction tool
Find Match from TerraMatch Main tool. It will display Find Match
window. Set the parameters as shown in the screen shot and apply
OK. System will take a few minute and then will give the corrected
values of corrections to parameters like Easting shift; Northing shift;
Z shift; and H, R, P shifts. Save these changes at asecure place and
apply the corrections.

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This will yield the rectified point cloud or ALS Data for further
processing. Click here for more information on TerraMatch.

TerraScan:
TerraScan is used mainly for classification purpose. The main task
involved in a Lidar project is the classification of point cloud.
General classification of the Lidar data is as follows.
1.
2.
3.
4.

Ground.
Buildings.
Vegetation.
Low points.

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Ground classification is for getting the bare ground from the raw data.
The sequence of steps for extraction of ground are given hereunder:
Go to TerraScan main window and click the Classify/Routine/Ground

Buildings classification tool can classify the buildings automatically.

However, the accuracy of classification depends on project information
like flying height, iteration angle etc. Even then the results are likely to
be only 60% accurate. Further improvement in classification is carried
out interactively (manually). The Buildings classification should be
taken up only after Ground classification.
For Buildings classification, go to TerraScan main window and click the
Classify/Routine/Buildings..

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For Vegetation classification we take the Ground points as reference

base points. The point cloud is classified into Vegetation class by
removing vegetation points from Ground to Vegetation layer with the
help of specified height limit from ground.
For Vegetation classification, go to TerraScan tool and click the Remove
Vegetation.

Low point classification can remove the low and bad points according
to given distance and height with reference to ground points.

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For Low point classification, go to TerraScan tool and click the

Classify/Routine/Low points

After classification of Ground level, Vegetation level, Building level and

Low points (Error Points), we should clean the Ground level as per the
required accuracy of the project. In this step, called as surface
cleaning, the surface is generated with TerraScan and surface
displayed with TerraModel.
Surface generation:
Go to Terrascan main window Output/Create surface model.

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Surface display:
Go to TerraModel tool and click Display shaded surface.
Surface cleaning:
It is the process of removing of bad and noise points from the Ground
level. For this TerraScan is having tools like Assign Point class, Classify
using brush, Classify fence, Classify below line and Classify above line.
Supportive tool like Draw Section is used for obtaining cross-sectional
view of the selected area to facilitate identification of features, viz.,
trees, buildings, ground or bad points.

Draw Section:
Go to TerraScan tool and click the Draw Section. Make the section at
required place, and accept by mouse right button in View 2.

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Final output of surface cleaned data is the cleaned bare earth data.
Now we can generate the contours and DTM Grid with this data. For
contour generation we need Key Points from bare earth data.
Key point generation:
Go to Classify/Routine/Model key points in TerraScan main window.

With the help of Model key points we can generate the surface. This
surface is the input for the Display Contour in TerraModel.
DTM Grid Generation:
Go to Output/Export lattice model in TerraScan main window.

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Final outputs of contours and DTM Grid depend on the client

requirement. Contour interval and grid interval may vary as per the
client specifications. Click here for more information on TerraScan.

TerraModel:
TerraModel is basically required for generation of contours / DTM grid
and display of surface at the time of surface cleaning.
TerraModel Tool:

Contour generation:
Go to Display contours from TerraModel Tool. Now indicate parameters /
options as per the screen-shots given hereunder according to the
clients specifications:

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Display Surface:
Go to TerraModel main tool and select the Display Shaded Surface. And
give the color cycles according to terrain density.

Click here for more details on TerraModel.

TerraPhoto:
TerraPhoto module is used to generate orthophotos by using Lidar
Ground points (bare earth) data. Four major steps are involved in
orthophoto generation.
1.
2.
3.
4.

Create the Mission.

Load points from TerraScan.
Load images
Rectify.

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TerraPhoto Tool Bar:

Creation of Mission:
Go to TerraPhoto, click Mission / New mission, key-in parameters and
indicate path for images, camera file and output as per the screen shot
and press OK.

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Load Ground points:

Click Points / Load from TerraScan from TerraPhoto tool. Load the
Ground points by selecting Ground.

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Load images:
Load the image information from image information file (.iml), by
clicking Load list from TerraPhoto tool.

Rectify:
Click Rectify / Rectify from TerraPhoto tool and select the appropriate
tiles for rectification as given in the screen shot.

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The quality activity plan for Lidar data processing:

A document has been prepared which contains the quality activity plan of
KIL for Lidar data processing. The objective of preparing this document is
to ensure that the quality of the final Lidar data product is in accordance
with the agreements entered into by KIL with the specific client, including
adherence to schedules.
This document also serves as a tool for processing of laser scanning data.

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LIDAR Applications:
1.Bare earth classification
2.Transmission Line Classification
3. Building Classification.

Bare Earth Classification

Terrain classification, or bare earth extraction, is an important component to LADAR
data analysis. The terrain classification approach presented in this effort utilizes an
adaptive lower envelope follower (ALEF) with an adaptive gradient operation for
accommodations of local topography and roughness. In order to create a more robust
capability, the ALEF was modified to become a strictly data driven process that facilitates
a quick production of the data product without the subjective component associated with
user inputs. This automated technique was tested on existing LADAR surveys over
Wyoming's Powder River Basin and the John Starr Memorial Forest in Mississippi, both
locations with dynamic topographic features. The results indicate a useful approach in
terms of operational time and accuracy of the final bare earth recovery with the advantage
of being fully data driven.
Extraction of terrain by removing all points other than bare earth like vegetation, fence,
tower, wires, building etc on the ground.
Verification of smoothness of terrain is done with the help of contours
Input:
Unclassified .las Points
Points of all features are mixed in one class i.e default class.

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 Open Microstation & LiDAR file in Terrascan.

Run routine (If needed).

It will automatically classify all ground points (shown in yellow colour) to
ground class.
Iteration angle and iteration distance will be used to do this process and bare
earth is classified.

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 Create surface of ground point only.

Run Contour & DEM Surface.

Adjust (classify) ground point & save LiDAR file.

If Grid is required

Export surface into Lattice file.

Import point through annotation.

If Contour is required

Export surface into Lattice file.

Generate contour as per specification.

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DSM and Building footprint

Digital vector mapping products are representations of major topographic map features
with attributed point line and region/area data. Vector maps are digitized so that a
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geographical information system automatically can derive information from the vector
features, making it possible to perform subsequent analysis (e.g. adjacency, proximity,
and connectivity analysis)
Input:Unclassified .las file

Ortho photos

Methodology: Open Microstation & LiDAR file in Terrascan.

Run routine on default points to get the ground.

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 Run macro to classify all the point on ground to one specific class.

Using specific class, classification of building is done.

Check for intermixing of points between building and vegetation.

Vectorization of building rooftop.

Draping of vector to ground.

Classified Building Data

Transmission Line Classification

Work Process for LiDAR MLS Vector Data
After classification of data we follow these points for vector part:

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 Open the data file (*.las) in Terrascan.

Load the *.lib file in Microstation level manager.

We will create a macro according to the terrain and features on it. It will
simplify our work by classifying all the features to vegetation or any one
class mentioned in macro.
We will classify different layers like Edge Lane (with proper offset
distance), Guard rails, Noise Walls, Sign Boards, Fence\Walls, Single Trees,
Vegetations, Stairs, Electric Pole, Electric Wires, Slope Top & Bottom by
taking cross sections of front view and side view on all the features one by
one.
Check proper edge match with adjacent file.

Example showing final output of MLS corridor

data:

1. Vector of classified data

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2. Classified Data

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Classified Tower and wire (side view)

Classified tower and wire (front view)

Classified Substation Area ( Left Isometric view)

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Classified Substation Area (Front view)

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Classified Substation Area (Left Isometric view)

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Similar Project Profile:

#

Project

Input

Area

Scope of work

Output

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Transmission
line

Unclassified
.las files of
MLS data

4
miles

Classification and vectorization

of tower, wires, signboard, noise
protection wall, guardrail,
vegetation, road, fence, road
marking, road edge line etc.

Bare Earth
Classification

Unclassified
.las files

150 sq
km

Bare earth classification with 1m

contour interval.

.las files with

bare earth
classifion

Building
Classification

Unclassified
.las files

65 sq
km

Classification of all the buildings

Classified .las
files

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Classified .las
file and dgn
file

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