Volumetric performance evaluation of a laser scanner based on geometric error model

•We model geometric errors of a large volume laser scanner.•Sensitive volumetric length and two-face tests are described for each of the model terms.•We describe experimental results and show how the different model terms can be estimated.•The main objective here is to show that systematic errors in laser scanners reflect as volumetric length and two-face tests, and we can detect these errors by choosing appropriate tests positions.•This is important for documentary standards development.

We discuss a geometric error model for those large volume laser scanners that have the laser source and a spinning prism mirror mounted on a platform that can rotate about the vertical axis. We describe the terms that constitute the model, address their effect on measured range and angles, and discuss the sensitivity of different two-face and volumetric length tests to each term in the model. We report on experiments performed using commercially available contrast targets to assess the validity of the proposed model. Geometric error models are important not only in improving the accuracy of laser scanners, but also in facilitating the identification of test procedures for performance evaluation of these instruments and therefore in the development of documentary Standards. The work described in this paper lays the foundation for such efforts.