Cooperative 3D tunnel measurement based on 2D–3D registration of omnidirectional laser light

摘要

Abstract In this study, we proposed a high‐density three‐dimensional (3D) tunnel measurement method, which estimates the pose changes of cameras based on a point set registration algorithm regarding 2D and 3D point clouds. To detect small deformations and defects, high‐density 3D measurements are necessary for tunnel construction sites. The line‐structured light method uses an omnidirectional laser to measure a high‐density cross‐section point cloud from camera images. To estimate the pose changes of cameras in tunnels, which have few textures and distinctive shapes, cooperative robots are useful because they estimate the pose by aggregating relative poses from the other robots. However, previous studies mounted several sensors for both the 3D measurement and pose estimation, increasing the size of the measurement system. Furthermore, the lack of 3D features makes it difficult to match point clouds obtained from different robots. The proposed measurement system consists of a cross‐section measurement unit and a pose estimation unit; one camera was mounted for each unit. To estimate the relative poses of the two cameras, we designed a 2D–3D registration algorithm for the omnidirectional laser light, and implemented hand‐truck and unmanned aerial vehicle systems. In the measurement of a tunnel with a width of 8.8 m and a height of 6.4 m, the error of the point cloud measured by the proposed method was 162.8 and 575.3 mm along 27 m, respectively. In a hallway measurement, the proposed method generated less errors in straight line shapes with few distinctive shapes compared with that of the 3D point set registration algorithm with Light Detection and Ranging.