Cylinder-based Efficient and Robust Registration and Model Fitting of Laser-scanned Point Clouds for As-built Modeling of Piping Systems

Abstract

In this work, we improved the efficiency and accuracy of our proposed cylinder-based registration and model fitting method of point clouds by terrestrial laser scanners for the as-built modeling of piping systems. Our algorithm simultaneously calculated the scanner parameters and cylinder parameters to avoid the propagation of registration errors and modeling errors. Coarse registration is performed by finding the alignment of the cylinder axes based on the random sample consensus approach and using a hash table. The efficiency of the coarse registration is improved by introducing a three-dimensional hash table. The fine registration and modeling is performed by minimizing the fitting errors of the cylinders as a nonlinear function of the positional and geometric parameters of scanners and cylinders. An iteratively reweighted least squares method is applied to the fine registration and modeling, leading to improved robustness. Moreover, for the modeling of pipes that are slightly bent due to gravity, incident angle filtering of scanned points and cylinder subdivision of the pipes to be modeled are introduced. The efficiency and robustness of the improved algorithm were compared with the previous approach using both artificial and real point clouds. The effectiveness of incident angle filtering and cylinder subdivision was confirmed. The proposed algorithm achieved the level of cylindrical modeling precision required for the renovation work of piping systems.

Calculation Method for Phenotypic Traits Based on the 3D Reconstruction of Maize Canopies

“…In addition to the impact of the external environment and the selection of boundary points, some measurement errors could result from the great interference of the point cloud data at the edge of the maize stem with cylinder fitting. Accordingly, the interference of individual points with cylindrical fitting could be reduced and the accuracy and stability of measurement could be promoted by improving the cylinder fitting algorithm [ 51 , 52 ].…”

Structural Analysis of Glazed Tubular Tiles of Oriental Architectures Based on 3D Point Clouds for Cultural Heritage

“…The tubular tiles are mostly cylindrical structure. To monitor its deformation, we perform RANSAC cylinder fitting (Moritani et al, 2019) for each individually segmented tubular tiles obtained via the proposed workflow. Based on the estimated model parameters and residuals, we can compare different tubular and access their deformation from a perfect cylinder.…”

Intelligent Layout of New Chinese Style Interior Space Combining Deep Learning Technology

“…This is particularly important in modelling complex structures such as terrain undulations and building contours in landscape design. Rough registration stage, Moritani et al [10] employed a technique based on random sample consistency and a three-dimensional hash table, which not only improved registration efficiency but also ensured registration accuracy. In the fine registration and modelling stage, high-precision modelling is achieved by minimizing the fitting error of the cylinder as a nonlinear function of the position and geometric parameters of the scanner and cylinder.…”