Proposed Methodology for Three-Dimensional Building Modelling of LoD 4 using Terrestrial

Laser Scanner: Preliminary Work in Ibnu Sina, UTM

Siew Chin Cheong, Halim Setan & Zulkepli Majid

UTM Photogrammetry & Laser Scanning Research Group, Faculty of Geoinformation

Science and Engineering, Universiti Teknologi Malaysia (UTM), 81310 UTM Skudai, Johor,
Malaysia

Email: ahxu813csc@gmail.com, halim@utm.my, zulkepli@utm.my

___________________________________________________________________________

Abstract – Application of three dimensional models is proven beneficial for various applications as
discussed by researchers in the world. All 3D data collection techniques show significant
improvements in resolution and accuracy. A variety of approaches with different resolutions,
accuracies, methods, completion times, stages and costs exists. In this project, the terrestrial laser
scanning method is proposed to capture building structure data to reflect the current state of building.
Using combine methodologies for handling data from multi sources: terrestrial laser scanner, total
station and together with digital images it generate 3D visualisation of building models in LoD 4. This
paper discussed the numerous inputs to succeed the 3D building modelling, while the focus of this
study will be on the methodology using terrestrial laser scanner (TLS) in generate building in LoD 4
by follows the standard defined by CityGML. This project, 3D building model is produced including
interior model. The three-dimensional visualization concept developed rapidly and in the study, the
study case building will complete with its texture acquired from digital device, Nikon SLR D300s
camera.

Keywords : 3D city modelling, CityGML, LoD 4, terrestrial laser scanning.

1.0 Introduction technique become more and more important in

There is an increasing demand for 3D
building models for many applications and
users worldwide (Dursun & Buhur, 2006).
Some of this growth in demand has caused by
the increase in public availability of open
geospatial viewers (e.g. Google Earth, Virtual
Earth). In this study, modelling of building
structures in the study area are carried out
using terrestrial laser scanning (TLS) as it’s a
3D modelling field. Laser scanner can produce
around 120,000 points/ second all located in
3D space. The model created using FARO
Photon 120 as proposed in this study is in LoD
4 which including interior model of the
building structures. LOD is a system feature
for optimizing the amount of detail rendered in
a scene. In this paper, TLS is proposed for
generating building model follow the standard
of LoD defined by City Geograpy Markup
Language (CityGML) describe by (Kolbe et
al., 2005). CityGML defines five levels of
details for multi scale modelling. The different
between the five LoD is stated in Figure 1
below.
LoD Type of Characteristic of
Model Model
0 Regional Contains 2.5D DTM
1 Building Without roof structures
2 Building Including roof
structures
3 Building Detailed architecture
4 Building Including interior
model
Figure 1: Level of Details as in CityGML
2.0 Literature Review
Benefits of 3D over 2D is the model
created is more up-to-date, accurate, flexible
and in this case it’s using multi data source
and giving hybrid results so the model is more
photorealistic.
The usual practice in producing a 3D building
model is by extrudes building footprints from
2D maps to a given height in order to generate
model based on standard of CityGML. Then, a
3D terrain model is usually to provide the
landscape context for the buildings. However,
through this method, height of the buildings
may not be very accurate and it does not
contain detailed information of the model.
In order to overcome the problem of
inaccurate building height data, laser scanning
methods are been adopted. Laser scanning data
provides an accurate height model with semi-
automatic extraction of buildings. Various
methods and techniques giving different
accuracy, dimension, resolution and results for
each and other have its own strength and
weaknesses.
Advantage of 3D models over 2D
representation is it provides users with a model
that gives the ease of visualization from any
viewpoint to the desired object or structure
(Schilling and Zipf, 2003). Area planning, land
administration, facility management or
visualization has observed, in recent years,
utilising 3D model for representation and
decision-making. A 3D city model describes
all objects of interest in an urban area in
computer compatible form (geometry,
semantics) as discussed by Grun (2009).
i. Terrestrial Laser Scanning
The latest developments in sensor
technology, laser scanning, offers a new
efficient data acquisition method for
measuring objects. The use of terrestrial laser
scanning for cultural heritage recording is
becoming increasingly popular. The high
resolution, precision 3D scans are ideal for
laser scanning metrology applications such as
reverse engineering, inspection, modelling, as-
built documentation, asset management and
more.
Next to automatic image matching, laser
scanning, often also referred to as LiDAR
(light detection and ranging), has
revolutionized 3D data acquisition for both,
topographic as well as close range objects
(Pfeifer and Briese, 2007).
Laser scanning technology improves the
efficiency and quality of construction projects
as described by Arayici (2007). In this study,
the focus is the 3D modelling technique using
data obtained from TLS. The terrestrial laser
scanner used for this project is a phase based
laser scanner, Faro Photon 120.
To acquire the distance between the optical
centres of the scanner to the object surface,
e.g. a facade, this type of scanners measures
the phase difference between the emitted laser
beam andd the returned laser reflection (Pop et
al., 2007).
ii. Case Study
The case study building is Ibnu Sina
building located near Faculty of Chemical
Engineering, Universiti Teknologi Malaysia
(UTM). Testing has been carried out to capture
the huge building by established 15 stations to
cover it.
Figure 2: Ibnu Sina in UTM
3.0 Methodology
Ideally, all the methodologies and process
in Figure 3 is a combine methodologies
methodologie for
handling data acquired from multiple sources.
In 3D building modelling specialists look for
faster and more precise ways to generate them.
odelling methodologies
Figure 3: Modelling
3.1 Phrase of workflow
There are few phases
ases in the workflow
in this project (See Figure 4).
4) The starting of
research planning was carried out to design ana
optimum approach on method, system,
software and hardware to succeed this project.
Generally, the data is collected using laser
scanner and total station as control system.
Figure 4: Phases of workflow
Data acquisition is divided into two stages as
the data collected need to be combine and
integrate to generate a final model. The data
from Faro Photon 120 is registered and edited
in Faro scene. The process after it is modelling
and texture mapping using digital image from
Nikon DSLR camera that hook on to Faro
Photon 120.
The three phrases is divided by the stages from
the beginning
ginning of data being import and
processed then the methods being
implemented till the output of the data.
Combination of data from Photon 120 and
LIDAR for the creation of complete 3D UTM
model of study area, the main focus will be on
the usage of terrestrial
rial laser scanner.
4.0 Hardware & Software compare or integrate the data obtained from
different measurements.

4.1 FARO Photon 120

FARO Photon 120 (See Figure 5) is a
high-speed 3D scanner utilizing non-contact
laser technology, the FARO Photon generates
highly detailed three-dimensional replicas of
complex environments and geometries within
minutes. It provides field of view of 360º
horizontal and 320º vertically.
4.2 Leica TCA 1103 Plus
Total station Leica TCA 1103 Plus
is used to establish the control network for the
building scanned. Traversing of the building
structure establish the reference system to get
the coordinates fixed into the coordinate
system determined. Geo-referencing of the
building models into the same coordinate
system is the crucial process as it synchronise
large amount of building structures in 3D
space and exact position.

The purpose of control survey is to develop a

precise control station for scanning task. The
control survey was carried out using total
station. The control stations were setup on the
ground, around the building, using temporary
Figure 5: FARO Photon 120 Laser scanner
control markers. The output of the control
survey is the 3D coordinate of the control
stations. The coordinates were then used to
This phase shift based laser scanner recreates
calculate the 3D coordinates of the targets.
the real world and defines it within a virtual
space. The resulting image is a collection of
millions of 3D measurements, providing an
accurate digital representation of as built or as
4.3 Faro Scene & Faro Scout
is conditions. Its scanning rate is 976,000
points per second with a reach of 503ft.
The software from Faro Technologies,
(153m) with systematic distance error at
Inc. - Faro Scene and Faro Scout were
±2mm at 25m.
adopted. In Faro scene, it enables viewing,
administration and working on, of extensive
3D scan points from high resolution 3D laser
By the laser scanning, the sets of point clouds
scanners. This allows user to manipulate raw
are acquired of the same scene or object at
3D scan points and acquire with analysis
different times, or from different perspectives
functions initial point cloud data
and in different instrument coordinate systems.
comprehension (See Figure 6).
For a comprehensive modelling, it is necessary
to transfer and match the different sets of point
clouds through 3D transformations in one joint
coordinate system. This process is known as
point clouds registration. Point clouds
registration is necessary in order to be able to
 and manipulation, scan points prepared for
export into the CAD system

4.4 Pointools 4 Rhino

Pointools 4 Rhino delivers point cloud

Figure 6: Point cloud data for Ibnu Sina in
UTM
In Figure 6, the sample data show the
point cloud scan for one of the building, Ibnu
Sina, in UTM Skudai campus. Through data
analysis and manipulation, scan points will be
prepared for export into CAD system.
display engine into Rhinocerous 4.0 (See
Figure 7). Large datasets can be visualised
with ease, allowing modelling of or around
point cloud data. In addition to modelling,
Pointools 4 Rhino also enables drawing of
point cloud data using rapid sectioning tools
and providing the drawing platform for survey
work.

FARO Scene supports the creation of

models and the registration of scans by
automated tools. FARO Scene operations
retain base information from their data
selection. This base information is translated
into a numerical display for the evaluation of
selection quality.

Reduction and simplification of point

Figure 7: Screen Shot for Pointools 4
cloud data in faro scene can be done by
Rhinocerous 4.0.
generate scan based objects. Objects such as
planes for floor and walls facilitate the
Pointools 4 Rhino enable visualizing
exporting of data into CAD system for
Rhino model in a point cloud context. It
modelling purposes. e.g.: AutoCAD, 3D
supports mmodelling and 2D drawing from
Studio Max, Pointool 4 Rhino etc. Direct
point clouds and Lidar data. In this project, the
point selection and slice selection complete
data input for modelling is only point cloud
the functionality needed for modelling in
from terrestrial laser scanner. In addition
CAD while analysis like distance
Rhino 4 features a comprehensive set of
measurement and surface evenness is
drawing tools, includes support for .dxf and
provided in Faro Scene.
.dwg and many other formats.
Faro Scout is designed for viewing of
3D scan points from high resolution 3D laser
scanners. FARO Scout makes the acquisition
4.5 Nikon DSLR 300s Digital Camera
of information possible directly from the 3D
scan points. Besides measuring distances
Integration on Faro Photon 120 as a
between objects, surface areas and volumes
colour option for scanning task carried out,
may be determined. Through data analysis
Nikon DSLR 300s camera (See Figure 8)
responsible for digital images acquisition for
texture mapping stages in the project to create Resolution 12.3 Megapixel
more photorealistic model (See Figure 9). In Colour Colour
this system, this digital camera is hook on to Support
Total Pixels 13,100,000 pixels
Faro Photon 120 to acquire texture for texture Optical CMOS
mapping process. Sensor
Lens System 18mm-200mm - f/3.5-5.6 G
Type Nikon AF-S DX ED VR II
Display LCD display
Battery 1 x Li-ion rechargeable battery
Details

Table 1: Specification for Nikon DSLR 300s

Figure 8: Nikon DSLR 300s camera

5.0 Preliminary Results

There are total 15 stations was

established to cover Ibnu Sina building. In
Figure 10, it showed the 15 station in the
project tree on left hand side of Faro Scene
software. The colour in Faro scene differ the
point clouds scanned from different stations.
The data capture is done on the outer part to
acquired data for building model generation.

Figure 9: Integrated of DSLR 300s as colour

option with Faro Photon 120

The Nikon DSLR 300s camera taking digital

images with the images registered in 3D
environment together with scanning data
obtained. With this, the texture mapping
process carried out after registration of 3D
point clouds. Images are being capture with it
is positioned from the position of the scanner.
The assumption will be from every single
image capture it is same to every scene being
scanned from the view of scanner.
The modelling software, Pointools 4Rhino will
complete the generation of texture applied in
models. Table following is the specification
for Nikon DSLR 300s.
Figure 10: Scanned View from station 1
The representation and scene
construction is more cost-efficient and faster
using TLS. It is convenient to build a virtual
reality building models for variety of potential
GIS application that is in trend with market.
Using TLS, it reduces the workload of
modelling and makes more detailed models
from point clouds data.
 Data surveyed is in high precision and
it is helpful to the synchronization of
surveying and processing to take place. The
3D building model is presented at exact
coordinate system with texture mapped.
Figure 11: Processing in Faro Scene
Figure 12: Complete Scanned Point Clouds
Merge for Ibnu Sina in Faro Scene
The complete point clouds was registered and
merged in Faro Scene. Further task ]will be
involving the interior object scanning and
modelling to have building in LoD4.
6.0 On-Going Task
After acquire 3D point clouds of
building structures using Terrestrial Laser
Scanner for outer part of building the coming
task and work will be the interior of building
structures. Hence, it is important to test and
analyses the significance of using TLS to
register the interior and outer part of building.
Texture mapping for images captured will be
crucial part to fulfilled architectural outer look
of building.
7.0 Conclusion
With advanced surveying technology
built in, it worth the investment with vast
improvement in terms of quality and accuracy
of data and cost effectiveness. It can be
utilized for other surveying jobs as well.
The current trend of 3D visualization
for better understanding of users for the
various purposes is a big challenge in the
market. The trend of having 3D or even 4D
city model that includes changes over time is
the urging agent that makes the researchers
and commercial solution company moving
aggressively to involve in 3D modelling
applications and techniques to compete each
other and meet market needs.
The proposed area study is aim to
study and approach to the modelling
techniques with laser scanning data available
in the laser scanner.
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