High-Resolution Point Cloud Registration Method for Three-Dimensional Piping Measurements

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI:10.20965/jrm.2023.p1655

Jin Akiyama, Yuan Zong, Naoki Shinada, Taro Suzuki, Y. Amano

引用次数: 0

Abstract

In this study, we propose a method for generating highly accurate high-density point clouds of piping facilities using an unmanned aerial vehicle (UAV) laser scanner and a handheld laser scanner. The point cloud for each scanline measured by the UAV scanner is repositioned on the piping axis, and the handheld scanner’s 3D point cloud is subsequently registered so that the center axis of the piping coincides with the UAV point cloud as a reference. The method proposed in this study was used to accurately reconstruct linear piping measured in high winds, which can easily deteriorate measurement accuracy. Whereas the conventional method incurred a deviation of 44.3 mm between the predicted and true values at altitudes of 15 m, the proposed method reduced this deviation to 19.4 mm. An application of the registration method demonstrated that the combined use of the two laser scanners enabled the creation of a high-density point cloud.

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用于三维管道测量的高分辨率点云注册方法

在本研究中，我们提出了一种使用无人机（UAV）激光扫描仪和手持式激光扫描仪生成高精度高密度管道设施点云的方法。将无人机扫描仪测量到的每条扫描线的点云重新定位到管道轴线上，然后对手持扫描仪的三维点云进行注册，使管道的中心轴线与作为参考的无人机点云重合。本研究提出的方法用于精确重建在大风中测量的线性管道，因为大风很容易降低测量精度。传统方法在 15 米高空的预测值和真实值之间产生了 44.3 毫米的偏差，而所提出的方法则将这一偏差减少到了 19.4 毫米。注册方法的应用表明，结合使用两台激光扫描仪可以创建高密度的点云。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.