2019

A. Nüchter
Position and orientation of sensors for unmanned vehicle systems
Unmanned Vehicle Systems for Geomatics -- Towards Robotic Mapping
[BibTeX]

@InCollection{Nuechter2019a, author = {A. N{\"u}chter}, title = {Position and orientation of sensors for unmanned vehicle systems}, booktitle = {Unmanned Vehicle Systems for Geomatics -- Towards Robotic Mapping}, publisher = {Whittles Publishing}, year = {2019}, editor = {P. Patias and C. Armenakis}, OPTpages = {}, }

[Abstract]

Coming soon

M. Bilal, R. Vijayan, K. Schilling;
SDRE Control with Nonlinear J2 Perturbations for Nanosatellite Formation Flying
Proceedings IFAC ACA. 2019.
[BibTeX]

@inproceedings{Bilal2019a, author = {M. Bilal, R. Vijayan, K. Schilling}, booktitle = {Proceedings IFAC ACA}, publisher = {IFAC}, title = {SDRE Control with Nonlinear J2 Perturbations for Nanosatellite Formation Flying}, year = {2019}, city = {Cranfield} }

M. Bleier, C. Almeida, A. Ferreira, R. Pereira, B. Matias, J. Almeida, J. Pidgeon, J. van der Lucht, K. Schilling, E. Silva, A. Nüchter
3D UNDERWATER MINE MODELLING IN THE VAMOS PROJECT
Proceedings of the 2nd ISPRS International Workshop Underwater 3D Recording & Modelling: A tool for modern applications and CH recording
[BibTeX]

@InProceedings{Bleier2019c, author = {Bleier, M. and Almeida, C. and Ferreira, A. and Pereira, R. and Matias, B. and Almeida, J. and Pidgeon, J. and van der Lucht, J. and Schilling, K. and Martins, A. and Silva, E. and N{\"u}chter, A.}, title = {{3D UNDERWATER MINE MODELLING IN THE VAMOS PROJECT}}, booktitle = {Proceedings of the 2nd ISPRS International Workshop Underwater 3D Recording \& Modelling: A tool for modern applications and CH recording}, year = {2019}, pages = {105--112}, series = {ISPRS Archives Photogrammetry and Remote Senssing Spatial Information Science, Volume XLII-2/W10}, address = { Limassol, Cyprus}, month = {May}, abstract = {}, doi = {10.5194/isprs-archives-XLII-2-W10-39-2019}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/u3drm2019.pdf}, }

[Abstract]

The project Viable Alternative Mine Operating System (VAMOS) develops a novel underwater mining technique for extracting inland mineral deposits in flooded open-cut mines. From a floating launch and recovery vessel a remotely-operated underwater mining vehicle with a roadheader cutting machine is deployed. The cut material is transported to the surface via a flexible riser hose. Since there is no direct intervisibility between the operator and the mining machine, the data of the sensor systems can only be perceived via a computer interface. Therefore, part of the efforts in the project focus on enhancing the situational awareness of the operator by providing a 3D model of the mine combined with representations of the mining equipment and sensor data. We present a method how a positioning and navigation system, perception system and mapping system can be used to create a replica of the physical system and mine environment in Virtual Reality (VR) in order to assist remote control. This approach is beneficial because it allows visualizing different sensor information and data in a consistent interface, and enables showing the complete context of the mining site even if only part of the mine is currently observed by surveying equipment. We demonstrate how the system is used during tele-operation and show results achieved during the field trials of the complete system in Silvermines, Ireland.

M. Bleier and J. van der Lucht and A. Nüchter
Towards an Underwater 3D Laser Scanning System for Mobile Mapping
Proceedings of the IEEE ICRA Workshop on Underwater Robotic Perception
[BibTeX]

@InProceedings{Bleier2019a, author = {M. Bleier and J. van der Lucht and A. N{\"u}chter}, title = {Towards an Underwater 3D Laser Scanning System for Mobile Mapping}, booktitle = {Proceedings of the IEEE ICRA Workshop on Underwater Robotic Perception}, year = {2019}, month = {May}, address = {Montreal, Canada}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/icraurp2019.pdf}, }

[Abstract]

Digitizing archaeological or industrial sites on land using standard methods of photogrammetry like 3D modeling from photos or laser scanning is well understood. In contrast, precise underwater surveying with high resolution is still a complex and difficult task. In this paper, we present the development and construction of a structured light underwater laser scanning system and show first results on applying the system for mobile scanning in the water. The laser scanner employs two line lasers to project a cross on the scene. This enables mobile scanning in multiple directions and provides an overlapping scan pattern, which is exploited for trajectory optimization. We describe the image processing, calibration and 3D reconstruction methods used for creating point clouds using the system. In experiments conducted in a towing tank we demonstrate 3D scans captured by rotating the scanner on a robotic joint and first results of mobile scans acquired by moving the scanner through the water along a linear trajectory.

D. Borrmann and S. Jörissen and A. Nüchter
RADLER -- Ein Einrad als RADialer LasER Scanner
Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2019, Jade Hochschule P. 12-21
[BibTeX]

@InProceedings{Borrmann2019b, author = {D. Borrmann and S. J{\"o}rissen and A. N{\"u}chter}, title = {{RADLER -- Ein Einrad als RADialer LasER Scanner}}, booktitle = {Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beitr{\"a}ge der Oldenburger 3D-Tage 2019, Jade Hochschule}, pages = {12--21}, year = {2019}, month = {February}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/olb2019.pdf}, }

[Abstract]

Die Weiterentwicklung in der 3D-Messtechnik hat in den letzten Jahren eine Vielzahl an unterschiedlichen Messgeräten zu 3D-Umgebungserfassung hervorgebracht, jedes davon mit seinen eigenen Vorzügen und Schwächen. Diese Arbeit stellt ein modifiziertes Einrad vor, bei dem ein an der Radachse befestigter 2D Laserscanner ein radiales 3D Scanpattern erzeugt. Dieses neuartige, kostengünstige Messgerät verbindet die Vorteile von radgetriebenen Scangeräten mit denen von Handscannern. Nach der Vorstellung des Hardwareaufbaus und der Sensorintegration werden die Ergebnisse anhand von drei Testszenarien ausgewertet und mit den Daten eines terrestrischen 3D-Laserscanners verglichen.

D. Catanoso, F. Kempf, K. Schilling, and S. D’Amico
Networked model predictive control for satellite formation flying
Proceeedings IWSCFF 19-XX. 2019.
[BibTeX]

@inproceedings{Catanosa2019a, author = { D. Catanoso, F. Kempf, K. Schilling, and S. D’Amico}, booktitle = {Proceeedings IWSCFF 19-XX}, publisher = {IFAC}, title = {Networked model predictive control for satellite formation flying}, year = {2019}, }

E. Dumic and A. Bjelopera and A. Nüchter
Projection based dynamic point cloud compression using 3DTK toolkit and H.265/HEVC
Proceedings of the 2nd International Colloquium on Smart Grid Metrology (SMAGRIMET''19) P. 1-4
[BibTeX]

@INPROCEEDINGS{Nuechter2019a, author = {E. {Dumic} and A. {Bjelopera} and A. {N{\"u}chter}}, booktitle = {Proceedings of the 2nd International Colloquium on Smart Grid Metrology (SMAGRIMET''19)}, title = {{Projection based dynamic point cloud compression using 3DTK toolkit and H.265/HEVC}}, year = {2019}, pages = {1--4}, publisher = {IEEE Xplore}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/smagrimet2019.pdf}, doi = {https://doi.org/10.23919/SMAGRIMET.2019.8720392}, month = {April}, address = {Split, Croatia}, }

[Abstract]

This paper presents novel compression method for dynamic point clouds based on projections and the H.265/HEVC video coder. We used 3DTK - The 3D Toolkit to create equirect-angular projection images and x265 as H.265/HEVC coder, to compress and extract created projection images. Compression was introduced in 3DTK generated projection image size (differ-ent pixel size, but compatible with later video compression), as well as lossless/lossy video compression. Visual inspection shows better results for compression only using different projection resolution, with lossless video compression. Lossy video compression adds noise and creates additional points, resulting in lower visual quality.

A. Freimann, T. Petermann, K. Schilling;
Interference-Free Store-and-Forward Communication in Low Earth Orbit Satellite Systems
SPACOMM 2019 - The Eleventh International Conference on Advances in Satellite and Space Communications. 2019.
[BibTeX]

@InProceedings{freimann2019a, author = {Andreas Freimann AND Timon Petermann AND Klaus Schilling}, title = {Interference-Free Store-and-Forward Communication in Low Earth Orbit Satellite Systems}, booktitle = {SPACOMM 2019 - The Eleventh International Conference on Advances in Satellite and Space Communications}, year = {2019}, keywords = {Satellite Communication; Delay Tolerant Networks; Medium Access Control; Satellite Formations}, }

A. Freimann, T. Petermann, K. Schilling;
Interference-Free Contact Plan Design for Wireless Communication in Space-Terrestrial Networks
IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT). 2019.
[BibTeX]

@InProceedings{freimann2019b, author = {Andreas Freimann AND Timon Petermann AND Klaus Schilling}, title = {Interference-Free Contact Plan Design for Wireless Communication in Space-Terrestrial Networks}, booktitle = {IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT)}, year = {2019} }

[Abstract]

Nanosatellites offer an affordable way to realize distributed systems for novel scientific and commercial applications in the area of Earth observation and global communication services. Therefore communication protocols need to be developed that allow for efficient and reliable communication in these challenging wireless networks. Delay Tolerant Networking (DTN) has been considered an appropriate approach for networks with intermittent connectivity such as deep space or low Earth orbit networks. DTN protocols, such as the Bundle Protocol, can make use of so called contact plans for routing purposes, that represent the anticipated topology of a network. Another challenging issue of these wireless networks is Medium Access Control (MAC). The use of existing MAC schemes such as Carrier Sense Multiple Access (CSMA) is inefficient due to the characteristics of space-terrestrial networks. In this paper, a contact plan design approach is presented that solves the MAC problem by predicting additive multi-node interference and scheduling interference-free links based on these predictions. Thereby the presented MAC scheme makes use of the predictability of space-terrestrial networks. An interference-free contact plan design (IFCPD) scheme will be presented and compared to existing schemes. The resulting contact plans are used by a DTN routing protocol for space-terrestrial networks. Performance parameters have been evaluated by simulations of an orbit configuration for multi-satellite Earth observation systems using a satellite communication simulation framework based on the popular OMNeT++ discrete event simulator.

A. Freimann, M. Dierkes, T. Petermann, C. Liman, F. Kempf, K. Schilling;
ESTNeT: A Discrete Event Simulator for Space-Terrestrial Networks
Deutscher Luft-und Raumfahrtkongresss. 2019.
[BibTeX]

@InProceedings{freimann2019c, author = {Andreas Freimann AND Maximilian Dierkes AND Timon Petermann AND Cedric Liman AND Florian Kempf AND Klaus Schilling}, title = {ESTNeT: A Discrete Event Simulator for Space-Terrestrial Networks}, booktitle = {Deutscher Luft-und Raumfahrtkongress}, year = {2019} }

A. Freimann, J. Scharnagl, T. Petermann, K. Schilling;
CubeSat Energy Modelling for Improved Mission Planning and Operations
70th International Astronautical Congress. 2019.
[BibTeX]

@InProceedings{freimann2019d, author = {Andreas Freimann AND Julian Scharnagl AND Timon Petermann AND Klaus Schilling}, title = {CubeSat Energy Modelling for Improved Mission Planning and Operations}, booktitle = {70th International Astronautical Congress}, year = {2019}, }

A. Freimann, A. Kleinschrodt, T. Horst, F. Kempf, K. Schilling;
Adaptive Coding and Modulation Scheme for Satellite Up- and Downlinks
70th International Astronautical Congress. 2019.
[BibTeX]

@InProceedings{freimann2019e, author = {Andreas Freimann AND Alexander Kleinschrodt AND Tim Horst AND Florian Kempf AND Klaus Schilling}, title = {Adaptive Coding and Modulation Scheme for Satellite Up- and Downlinks}, booktitle = {70th International Astronautical Congress}, year = {2019}, }

F. Kempf, J. Scharnagl, K. Schilling
Robust formation control in low-earth-orbit using sector bounds for j2 and drag disturbances
Proceedings 70th International Astronautical Congress . 2019. IAC-19 C1.8.54121
[BibTeX]

@inproceedings{Kempf2019a, author = {K. Schilling, Y. Schechner, I. Koren;}, booktitle = {Proceedings 12th IAA symposium on Small Satellites for Earth Observation, IAC-19 C1.8.54121}, title = {Robust formation control in low-earth-orbit using sector bounds for J2 and drag disturbances}, year = {2019}, }

A. Kleinschrodt, I. Motroniuk, A. Aumann, I. Mammadov, M. Hladky, M. Bilal, A. Freimann, L. Minshi, J. Lianxiang, F. Malan, H. Burger, G. Beltrame, K. Schilling
TIM: An International Formation for Earth Observation with CubeSats
Proceedings 12th IAA symposium on Small Satellites for Earth Observation, Berlin,. 2019. IAA-B12-1502
[BibTeX]

@inproceedings{Kleinschrodt2019a, author = {A. Kleinschrodt, I. Motroniuk, A. Aumann, I. Mammadov, M. Hladky, M. Bilal, A. Freimann, L. Minshi, J. Lianxiang, F. Malan, H. Burger, G. Beltrame, K. Schilling}, booktitle = {Proceedings 12th IAA symposium on Small Satellites for Earth Observation}, title = {TIM: An International Formation for Earth Observation with CubeSats}, year = {2019}, city = {Berlin} }

H. A. Lauterbach and D. Borrmann and A. N{\"u}chter and A. P. Rossi and V. Unnithan and P. Torrese and R. Pozzobon
Mobile mapping of the La Corona lavatube on Lanzarote
ISPRS Annals Photogrammetry and Remote Sensing, Spatial Inf. Sci., IV-2/W5, P. 381-387
[BibTeX]

@InProceedings{Lauterbach2019a, author = {H. A. Lauterbach and D. Borrmann and A. N{\"u}chter and A. P. Rossi and V. Unnithan and P. Torrese and R. Pozzobon}, title = {Mobile mapping of the La Corona lavatube on Lanzarote}, booktitle = {Proceedings of the ISPRS Geospatial Week 2019, Laserscanning 2019}, year = {2019}, series = {ISPRS Annals Photogrammetry and Remote Sensing, Spatial Inf. Sci., IV-2/W5}, pages = {381--387}, month = {June}, address = {Enschede, Netherlands}, doi = {10.5194/isprs-annals-IV-2-W5-381-2019}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/ls2019.pdf}, }

[Abstract]

Planetary surfaces consist of rough terrain and cave-like environments. Future planetary exploration demands for accurate mapping. However, recent backpack mobile mapping systems are mostly tested in structured, indoor environments. This paper evaluates the use of a backpack mobile mapping system in a cave-like environment. The experiments demonstrate the abilities of an continuous-time optimization approach by mapping part of a lavatube of the La Corona volcano system on Lanzarote. We compare two strategies for trajectory estimation relying either on 2D or 3D laser scanners and show that a 3D laser scanner substantially improved the final results.

R. M.Millan, R. von Steiger, M. Ariel, S. Bartalev, M. Borgeaud, S. Campagnola, J. C. Castillo-Rogez, R. Fléron, V. Gass, A. Gregorio, D. M. Klumpar, B. Lal, M. Macdonald, J. Uk Park, V.Sambasiva Rao, K. Schilling, G. Stephens, A. M.Title, J. Wu
Small satellites for space science: A COSPAR scientific roadmap
Advances in Space Research, Vol. 64 (2019), P. 1466-1517
[BibTeX]

@article{Schilling2019a, author = {Robyn M.Millan, Rudolf von Steiger, Meir Ariel, Sergey Bartalev, Maurice Borgeaud, Stefano Campagnola, Julie C. Castillo-Rogez, RenéFléron, Volker Gass, Anna Gregorio, David M. Klumpar, Bhavya Lal, Malcolm Macdonald, Jong Uk Park, V.Sambasiva Rao, Klaus Schilling, Graeme Stephens, Alan M.Title, Ji Wu}, title = {Small satellites for space science: A COSPAR scientific roadmap}, journal = {Advances in Space Research } Volume ={64} Pages = {1466-1517}, year = {2019}, URL = {https://doi.org/10.1016/j.asr.2019.07.035}, }

[Abstract]

This is a COSPAR roadmap to advance the frontiers of science through innovation and international collaboration using small satellites. The world of small satellites is evolving quickly and an opportunity exists to leverage these developments to make scientific progress. In particular, the increasing availability of low-cost launch and commercially available hardware provides an opportunity to reduce the overall cost of science missions. This in turn should increase flight rates and encourage scientists to propose more innovative concepts, leading to scientific breakthroughs. Moreover, new computer technologies and methods are changing the way data are acquired, managed, and processed. The large data sets enabled by small satellites will require a new paradigm for scientific data analysis. In this roadmap we provide several examples of long-term scientific visions that could be enabled by the small satellite revolution. For the purpose of this report, the term “small satellite” is somewhat arbitrarily defined as a spacecraft with an upper mass limit in the range of a few hundred kilograms. The mass limit is less important than the processes used to build and launch these satellites. The goal of this roadmap is to encourage the space science community to leverage developments in the small satellite industry in order to increase flight rates, and change the way small science satellites are built and managed. Five recommendations are made; one each to the science community, to space industry, to space agencies, to policy makers, and finally, to COSPAR.

K. Schilling;
Formations of Small Satellites
Jaime Estela / Rogerio Atem de Carvalho (eds.), Nano-Satellites: Space and Ground Technologies, Operations and Economics,
Chapter I-3d, John Wiley & Sons 2019
[BibTeX]

@book{Schilling2019c, author = {K. Schilling}, booktitle = {Jaime Estela / Rogerio Atem de Carvalho (eds.), Nano-Satellites: Space and Ground Technologies, Operations and Economics, Chapter I-3d, John Wiley & Sons 2019}, publisher = {John Wiley & Sons}, title = {Formations of Small Satellites}, year = {2019}, city = {Berlin} }

K. Schilling, A. Nuechter, S. Montenegro
Satellite Technology: An international, interdisciplinary master program with focus on hands-on experiences
Proceedings 70th International Astronautical Congress . 2019. IAC-19 E1.4.54918
[BibTeX]

@inproceedings{Schilling2019e, author = {K. Schilling, Y. Schechner, I. Koren;}, booktitle = {Proceedings 12th IAA symposium on Small Satellites for Earth Observation}, title = {Satellite Technology: An international, interdisciplinary master program with focus on hands-on experiences}, year = {2019}, }

K. Schilling, G. Loureiro,Y. Zhang, A. Nüuchter, J. Scharnagl, I. Motroniuk, A. Aumann
TIM: An international nano-satellite formation for photogrammetric earth observation
Proceedings 70th International Astronautical Congress . 2019. IAC-19 B4.7.54915
[BibTeX]

@inproceedings{Schilling2019f, author = {K. Schilling, G. Loureiro,Y. Zhang, A. Nüuchter, J. Scharnagl, I. Motroniuk, A. Aumann}, booktitle = {Proceedings 12th IAA symposium on Small Satellites for Earth Observation}, title = {TIM: An international nano-satellite formation for photogrammetric earth observation}, year = {2019}, }

K. Schilling, Y. Schechner, I. Koren;
CloudCT – Computed Tomography of Clouds by a Small Satellite Formation
Proceedings 12th IAA symposium on Small Satellites for Earth Observation, Berlin,. 2019. IAA-B12-1502
[BibTeX]

@inproceedings{Schilling2019b, author = {K. Schilling, Y. Schechner, I. Koren;}, booktitle = {Proceedings 12th IAA symposium on Small Satellites for Earth Observation}, publisher = {IFAC}, title = {CloudCT – Computed Tomography of Clouds by a Small Satellite Formation}, year = {2019}, city = {Berlin} }

K. Schilling, Y. Schechner, I. Koren;
Small Satellite Formations to Characterize 3D Cloud Properties: TOM and CloudCT
Proceedings 4th COSPAR Symposium on "Small satellites for sustainable Science And Development Herzliya, Israel, 2019
[BibTeX]

@inproceedings{Schilling2019d, author = {K. Schilling, Y. Schechner, I. Koren;}, booktitle = {Proceedings 4th COSPAR Symposium on "Small satellites for sustainable Science And Development}, title = {Small Satellite Formations to Characterize 3D Cloud Properties: TOM and CloudCT}, year = {2019}, city = {Herzliya} }

K. Schilling, Y. Schechner, I. Koren;
CloudCT: A formation of cooperating nano-satellites for cloud characterisation by computed tomography
Proceedings 70th International Astronautical Congress 2019, IAC-19 D1.6.54792
[BibTeX]

@inproceedings{Schilling2019d, author = {K. Schilling, Y. Schechner, I. Koren;}, booktitle = {Proceedings 70th International Astronautical Congress 2019, IAC-19 D1.6.54792}, title = {CloudCT: A formation of cooperating nano-satellites for cloud characterisation by computed tomography}, year = {2019}, }

C. Song, G. Islas and K. Schilling
Inverse Dynamics based Model Predictive Control for Spacecraft Rapid Attitude Maneuver
21st IFAC Symposium on Automatic Control in Aerospace, Cranfield 2019
[BibTeX]

@inproceedings{song2019a, author = "Chao Song, Genaro Islas and Klaus Schilling", title = "Inverse Dynamics based Model Predictive Control for Spacecraft Rapid Attitude Maneuver", booktitle = "Proceedings of $21^{st}$ {IFAC} Symposium on Automatic Control in Aerospace - ACA", address = "Cranfield, UK", year = 2019}

[Abstract]

Coming Soon

P. Torrese and A. Pio Rossi and V. Unnithan and D. Borrmann and H. Lauterbach and E. Luzzi and R. Pozzobon and F. Sauro and L. Bessone and A. Nüchter}
Imaging the subsurface of planetary volcanic analogues using ambient seismic noise data at the Tinguatón Volcano (Lanzarote, Canary Islands)
Proceedings of the EGU General Assembly 2019, Poster: New mission concepts, enabling technologies and terrestrial analogue studies for planetary explorationn
[BibTeX]

@InProceedings{Borrmann2019a, author = {P. Torrese and A. Pio Rossi and V. Unnithan and D. Borrmann and H. Lauterbach and E. Luzzi and R. Pozzobon and F. Sauro and L. Bessone and A. N{\"u}chter}, title = {{Imaging the subsurface of planetary volcanic analogues using ambient seismic noise data at the Tinguatón Volcano (Lanzarote, Canary Islands)}}, booktitle = {Proceedings of the EGU General Assembly 2019, Poster: New mission concepts, enabling technologies and terrestrial analogue studies for planetary explorationn}, year = {2019}, number = {EGU2018-18492}, month = {April}, address = {Vienna, Austria}, url = {https://meetingorganizer.copernicus.org/EGU2019/EGU2019-18492.pdf}, }

[Abstract]

Coming Soon

J. van der Lucht and M. Bleier and F. Leutert and K. Schilling and A. Nüchter
Korrektur der Brechung an der Wasseroberfläche beim triangulationsbasierten 3D-Laserscannen
Allgemeine Vermessungs-Nachrichten P. 43-52
[BibTeX]

@Article{Lucht2019a, author = {J. van der Lucht and M. Bleier and F. Leutert and K. Schilling and A. N{\"u}chter}, title = {{Korrektur der Brechung an der Wasseroberfl{\"a}che beim triangulationsbasierten 3D-Laserscannen}}, journal = {Allgemeine Vermessungs-Nachrichten (AVN)}, year = {2019}, volume = {126}, number = {3}, pages = {43--52}, month = {March}, url = {}, }

[Abstract]

Die vorliegende Arbeit besch{\"a}ftigt sich mit der Korrektur der Brechung an der Wasseroberfl{\"a}che beim triangulationsbasierten 3D Laserscannen. Hierzu wurde eine Methode entwickelt, um mit einem Structured Light (SL) System 3D-Daten von teilweise mit Wasser bedeckten Strukturen anzufertigen und die dabei entstehende Brechung an der Wasseroberfl{\"a}che zu korrigieren. Diese wurde anschließend in einem Versuchsaufbau evaluiert. Der Scanner wurde dabei an einem KUKA KR-16 Manipulatorarm befestigt, um den Scanner gleichm{\"a}ßig, definiert und wiederholbar zu bewegen. Die Bewegungen des Scanners wurden dabei durch ein externes Trackingsystem erfasst. Ebenfalls wurde bei diesen Versuchen der Einfluss verschiedener Einstrahlwinkel betrachtet. Zu diesem Zweck wurde der Scanner in verschiedenen Winkeln relativ zur Wasseroberfl{\"a}che positioniert. Durch die entwickelte Methode konnten Fehler durch die Brechung an der Wasseroberfl{\"a}che erfolgreich korrigiert werden. Außerdem konnte die Lage der Wasseroberfl{\"a}che ohne externe Markierungen aus den 3D-Daten bestimmt werden.