抄録
The recent progress of laser scanners makes it possible to capture dense point-clouds of large-scale facilities. Large-scale facilities are mainly composed of many primitive surfaces, such as planes, cylinders, cones, spheres, and tori. However, it is not easy to reliably extract these surfaces from point-clouds because it is actually difficult to capture complete point-clouds of surfaces. In this paper, we discuss how to reconstruct pipe structures from insufficiently extracted surfaces. In our method, we first extract planes and cylinders, which can be reliably extracted, and detect the relationship among detected surfaces on a depth image. Then we estimate shapes and locations of various pipe structures using the relationships among surfaces. Finally we verify estimated shapes based on visibility tests and eliminate inconsistent structures. In our experiments, our method could sufficiently reconstruct pipe structures using only a single scanning data.
