Line Structured Light-Based Tunnel 3D Measurement with 2D-3D Point Cloud Matching on Projected Light of Ring Laser

Abstract

In this study, light structured light-based tunnel 3D measurement instrument without using background texture of camera images is proposed. 3D point clouds of tunnel cross sections are actively measured by a camera and a ring laser in one shot. To integrate coordinates of the measured cross sections without using background texture of camera images, an additional camera is used in the proposed instrument. To estimate positions and orientations of the cross sections by acquired images from the additional camera, a probabilistic 2D-3D point matching algorithm is proposed. For accuracy validation, a 3D measurement experiment was done in a tunnel. The result shows that coordinates of all the cross sections were properly integrated and a dense 48 m-long tunnel point cloud was achieved.