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JRM Vol.35 No.6 pp. 1655-1662
doi: 10.20965/jrm.2023.p1655
(2023)

Paper:

High-Resolution Point Cloud Registration Method for Three-Dimensional Piping Measurements

Jin Akiyama*, Yuan Zong*, Naoki Shinada*, Taro Suzuki** ORCID Icon, and Yoshiharu Amano* ORCID Icon

*Waseda University
17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan

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

Received:
February 27, 2023
Accepted:
September 26, 2023
Published:
December 20, 2023
Keywords:
UAV, LiDAR, GNSS, registration, point cloud
Abstract

In this study, we propose a method for generating highly accurate high-density point clouds of piping facilities using an unmanned aerial vehicle (UAV) laser scanner and a handheld laser scanner. The point cloud for each scanline measured by the UAV scanner is repositioned on the piping axis, and the handheld scanner’s 3D point cloud is subsequently registered so that the center axis of the piping coincides with the UAV point cloud as a reference. The method proposed in this study was used to accurately reconstruct linear piping measured in high winds, which can easily deteriorate measurement accuracy. Whereas the conventional method incurred a deviation of 44.3 mm between the predicted and true values at altitudes of 15 m, the proposed method reduced this deviation to 19.4 mm. An application of the registration method demonstrated that the combined use of the two laser scanners enabled the creation of a high-density point cloud.

Registration method of two measurement devices

Registration method of two measurement devices

Cite this article as:
J. Akiyama, Y. Zong, N. Shinada, T. Suzuki, and Y. Amano, “High-Resolution Point Cloud Registration Method for Three-Dimensional Piping Measurements,” J. Robot. Mechatron., Vol.35 No.6, pp. 1655-1662, 2023.
Data files:
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