Object positional uncertainty modelling in 2D viewpoint planning

Viewpoint planning of terrestrial laser scanning surveys is often guided by the level of accuracy, which is a measure of radiated point precision that does not account for all factors affecting positional uncertainty. We propose the use of modelled object precision for viewpoint planning in a methodology that rigorously combines the three sources of positional uncertainty: the observations; registration; and the observation distribution. Our method is demonstrated on three 2D datasets by analyzing object precision in comparison to United States General Services Administration accuracy criterion. The results show the method's ability to 1) represent the precision for all objects in the environment; 2) identify problem areas where the level of accuracy specification is not met; and 3) inform densification measures needed to improve the design. Detailed explanations of the causes of design weaknesses accompany the results to illustrate the challenges of scanning complex built environments and to highlight solutions.