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Table 2 Properties of measurement data. Asterisk (*) indicates that, only for this case, the UAS point cloud was registered to the UAS point cloud of number 3 (Feb. 11, 2015) because of the lack of TLS data

From: Variations in volumetric erosion rates of bedrock cliffs on a small inaccessible coastal island determined using measurements by an unmanned aerial vehicle with structure-from-motion and terrestrial laser scanning

  Number of surveys 1 2 3 4 5 6 7
  Data of measurement Jun. 24, 2014 Oct. 31, 2014 Feb. 11, 2015 Jun. 18, 2015 Oct. 23, 2015 Feb. 23, 2016 Jun. 18, 2016
Weather Cloudy Cloudy Sunny Sunny Sunny Sunny sunny
Period length (days) 129 103 126 120 131 116
TLS Number of TLS scan position 1 10 6 4 6 8
Internal registration errors (mm) 5.3 3.5 8.9 15.9 11.7
Total number of TLS points measured 750,045 138,546,188 67,488,458 36,013,373 56,232,226 65,453,912
Number of TLS points used 294,888 990,882 14,062,296 2,624,403 4,508,131 5,895,657
GNSS Number of GCPs 4 7 6 3 6 5
Horizontal errors in GCP (mm) 16.8 14.9 13.5 14.3 13.4 13.6
Vertical errors in GCP (mm) 21.8 29.4 29.2 21.3 24.6 22.8
ICP External registration errors (mm) 13.9 21.2 8.1 6.4 [BASE] 10.6
UAV UAS registration errors (mm) 33.5 18.8* 39.7 24.6 30.1 25.1 30.2
Total number of measured points used 18,319,013 10,926,651 63,738,045 46,470,682 18,468,025 24,070,025 16,751,012
Number of points used 9,761,070 5,172,098 34,949,713 25,753,386 7,181,782 7,032,236 7,042,244