Semi-Automatic Registration of a Robotic Total Station and a CAD Model Without Control Points

Christoph Hubert Klug, Clemens Arth, Dieter Schmalstieg, Thomas Gloor

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review


Performing accurate measurements on non-planar targets using a robotic total station in reflectorless mode is prone to errors. Besides requiring a fully reflected laser beam of the electronic distance meter, a proper orientation of the pan-tilt unit is required for each individual accurate 3D point measurement. Dominant physical 3D structures like corners and edges often do not fulfill these requirements and are not directly measurable. In this work, three algorithms and user interfaces are evaluated through simulation and physical measurements for simple and efficient construction-side measurement correction of systematic errors. We incorporate additional measurements close to the non-measurable target, and our approach does not require any post-processing of single-point measurements. Our experimental results prove that the systematic error can be lowered by almost an order of magnitude by using support geometries, i.e. incorporating a 3D point, a 3D line or a 3D plane as additional measurements.
Original languageEnglish
Title of host publicationProc. IEEE Industrial Electronics Conference (IECON)
Publication statusPublished - 2018


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