Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A 3-D Tube Reconstruction based on Axis Alignment of Multiple Laser Scanning

배관측 정렬 방법을 이용한 다중레이저 스캐닝 기반의 3차원 배관복원

  • Received : 2011.06.27
  • Accepted : 2011.09.28
  • Published : 2011.11.01
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Abstract

A novel 3D tube scanning technique is proposed. The proposed tube scanning technique is developed for a special tube inspection module which consists of four line-lasers and one camera. Using the scanning module, we can reconstruct the 360 degree shapes of the inner surfaces of a cylindrical tube. From an image frame captured by the camera, we reconstruct a partial tube model based on four laser triangulations. Then by aligning such partial models with respect to a reference tube axis, a complete 3D shape of the tube is reconstructed. The tube axis in each reconstructed frame is aligned with a 3D Euclidean transformation to the reference axis. Several experiments show that the proposed method can align multiple tube axes very accurately and reconstruct 3D shapes of a tube with very low shape distortion.

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References

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  1. Enhancement of 3D Scanning Performance by Correcting the Photometric Distortion of a Micro Projector-Camera System vol.19, pp.3, 2013, https://doi.org/10.5302/J.ICROS.2013.12.1780