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Methodology for Assessing Coastal Change Using Terrestrial Laser Scanning

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Methodology for Assessing Coastal Change Using Terrestrial Laser Scanning UNIVERSITY OF CALIFORNIA, SAN DIEGO Methodology for assessing coastal change using terrestrial laser scanning A dissertation submitted in partial satisfaction of the requirements for the degree of Doctor of Philosophy in Structural Engineering by Michael James Olsen Committee in charge: Professor Falko Kuester, Chair Professor Scott Ashford Professor Neal Driscoll Professor Tara Hutchinson Professor David Sandwell 2009 Copyright © Michael James Olsen, 2009 All rights reserved. SIGNATURE PAGE The Dissertation of Michael James Olsen is approved, and it is acceptable in quality and form for publication on microfilm and electronically: Chair University of California, San Diego 2009 iii TABLE OF CONTENTS SIGNATURE PAGE .............................................................................................. iii TABLE OF CONTENTS .......................................................................................iv LIST OF FIGURES ............................................................................................. viii LIST OF TABLES ................................................................................................xv LIST OF SYMBOLS AND ABBREVIATIONS .................................................... xvii ACKNOWLEDGEMENTS ................................................................................... xix VITA……………. ................................................................................................ xxii ABSTRACT OF THE DISSERTATION ............................................................. xxiv CHAPTER 1. INTRODUCTION ........................................................................ 1 RESEARCH OVERVIEW ................................................................................ 2 RESEARCH REQUIREMENTS ...................................................................... 3 RESEARCH GOALS ....................................................................................... 3 OVERVIEW OF COASTAL MAPPING AND ANALYSIS TECHNIQUES ........ 4 TECHNOLOGICAL BACKGROUND ............................................................... 6 Aerial LIDAR .............................................................................................. 6 Oblique Helicopter LIDAR .......................................................................... 7 Terrestrial Laser Scanning (TLS) ............................................................... 7 Applications of TLS............................................................................. 11 Selection of a Laser Scanner ............................................................. 13 Grazing Angles ........................................................................................ 17 GPS ......................................................................................................... 23 Differential GPS (DGPS) and Real time Kinematic (RTK) surveying .. 23 VRS network ...................................................................................... 23 Software ................................................................................................... 27 STUDY AREA AND PRIORTIZATION .......................................................... 27 GEOLOGY OF SAN DIEGO COUNTY ......................................................... 30 Coastal Environment and Erosional Processes ....................................... 31 Wave Erosion ..................................................................................... 33 Subaerial processes ........................................................................... 34 Anthropogenic contributions ............................................................... 36 Geologic Formations ................................................................................ 36 The Delmar Formation ........................................................................ 39 The Torrey Sandstone formation ........................................................ 41 The Lindavista Formation ................................................................... 43 The Bay Point Formation .................................................................... 43 Ardath Shale ....................................................................................... 45 DISSERTATION OUTLINE ........................................................................... 45 iv CHAPTER 2. TERRESTRIAL LASER SCANNING OF EXTENDED CLIFF SECTIONS IN DYNAMIC ENVIRONMENTS: A PARAMETER ANALYSIS ... 47 OVERVIEW ................................................................................................... 48 INTRODUCTION ........................................................................................... 49 TLS background ...................................................................................... 52 Error sources in TLS ................................................................................ 55 APPROACH: FIELD PROCEDURE FOR REGIONAL SURVEYS ............... 56 Determining optimal scanning parameters from a calibration survey ....... 59 Using a Virtual Reference Station ............................................................ 61 Establishing a GPS Base Station as a reference point ............................ 62 Occupying a fixed control monuments for calibration .............................. 64 TLS surveying .......................................................................................... 65 Multi-scan, constrained software alignment ............................................. 66 Quality control of scan alignments ........................................................... 68 RESULTS AND DISCUSSION ...................................................................... 70 Calibration study results ........................................................................... 70 Results of repeat large-scale field surveys .............................................. 77 Verification of field data............................................................................ 81 Evaluating the Efficiency of the Survey Methods ..................................... 82 CONCLUSIONS ............................................................................................ 84 ACKNOWLEDGEMENTS ............................................................................. 85 CHAPTER 3. AUTOMATED, CONSTRAINED POINT-CLOUD ALIGNMENT MINIMIZING WARPING EFFECTS IN MAPPING LONG CLIFF SECTIONS .. 86 OVERVIEW ................................................................................................... 87 INTRODUCTION ........................................................................................... 88 TLS background ...................................................................................... 91 Point Cloud Alignment Background ......................................................... 93 Warping Effects in TLS ............................................................................ 97 Necessity of a New Hybrid Approach .................................................... 103 FIELD METHOD OVERVIEW ..................................................................... 104 PROCESSING METHODS ......................................................................... 107 Error Metric ............................................................................................ 107 Workflow Overview ................................................................................ 109 Initial Alignment (Steps 1-3) ................................................................... 109 Scan Editing (Step 4) ............................................................................. 111 PointReg Algorithm for Point-cloud Registration (Steps 5-8) ................. 111 Visual Verification (Steps 9) ................................................................... 115 RESULTS AND DISCUSSION .................................................................... 117 Software Alignment Without Constraints Using Global Optimization ..... 117 Software alignment with constraints ...................................................... 122 Performance .......................................................................................... 125 CONCLUSIONS .......................................................................................... 129 ACKNOWLEDGEMENTS ........................................................................... 130 v CHAPTER 4. RAPID RESPONSE TO SEACLIFF EROSION IN SAN DIEGO COUNTY, CALIFORNIA, USING TERRESTRIAL LIDAR .............................. 132 OVERVIEW ................................................................................................. 133 INTRODUCTION ......................................................................................... 134 METHODS .................................................................................................. 135 RESULTS .................................................................................................... 141 Case Study: Torrey Pines Failure at Site TP1 ....................................... 144 CONCLUSIONS .......................................................................................... 148 ACKNOWLEDGEMENTS ........................................................................... 149 CHAPTER 5. FATE AND TRANSPORT OF CLIFF FAILURE SEDIMENT IN THE SOUTHERN OCEANSIDE LITTORAL CELL ........................................ 150 OVERVIEW ................................................................................................. 151 INTRODUCTION ........................................................................................
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