JRM Vol.31 No.2 pp. 251-262
doi: 10.20965/jrm.2019.p0251


3D Measurement of Large Structure by Multiple Cameras and a Ring Laser

Hiroshi Higuchi*, Hiromitsu Fujii**, Atsushi Taniguchi***, Masahiro Watanabe***, Atsushi Yamashita*, and Hajime Asama*

*The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

**Chiba Institute of Technology
2-17-1 Tsudanuma, Narashino-shi, Chiba 275-0016, Japan

***Hitachi, Ltd.
292 Yoshida-cho, Totsuka-ku, Yokohama-shi, Kanagawa 244-0817, Japan

May 7, 2018
December 21, 2018
April 20, 2019
3D measurement, bundle adjustment, light-section method

This paper presents an effective mobile three-dimensional (3D) measurement system that can obtain measurements from the inside of large structures such as railway vehicles, elevators, and escalators. In the proposed method, images are acquired by moving measurement equipment composed of a ring laser and two cameras. From the acquired images, accurate cross-sectional shapes, which are obtained via a light-section method by each camera, are integrated into a unified coordinate system using pose estimation based on bundle adjustment. We focus on the method of separately extracting the information necessary for the two processes – the light-section method and pose estimation – from the acquired images. The laser areas used for the light-section method are detected by a bandpass color filter. Further, a new block matching technique is introduced to eliminate the influence of the laser light, which causes incorrect detection of corresponding points. Through an experiment, we confirm the validity of the proposed 3D measurement method.

3D measurement system for large target

3D measurement system for large target

Cite this article as:
H. Higuchi, H. Fujii, A. Taniguchi, M. Watanabe, A. Yamashita, and H. Asama, “3D Measurement of Large Structure by Multiple Cameras and a Ring Laser,” J. Robot. Mechatron., Vol.31 No.2, pp. 251-262, 2019.
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Last updated on Jul. 19, 2024