Large-scale three-dimensional measurement via combining 3D scanner and laser rangefinder

Area of Science:

• Metrology
• Robotics
• Computer Vision

Background:

• Accurate 3D measurement of large-scale objects presents significant challenges.
• Existing methods may lack precision or scalability for extensive structures.

Purpose of the Study:

• To develop and validate an integrated 3D scanning and laser rangefinding system for large-scale object measurement.
• To enhance the accuracy and efficiency of 3D data acquisition for complex, sizable targets.

Main Methods:

• A 3D scanner mounted on a robotic arm slides along a guide rail for partial section measurements.
• A laser rangefinder, rigidly attached to the 3D scanner, computes the scanner's poses.
• Scanner poses are estimated based on movement distance for aligning sequential partial scans.

Main Results:

• Experimental evaluation demonstrates the system's capability for effective large-scale 3D measurement.
• The integrated approach achieves reliable pose estimation and accurate section alignment.
• The method proves performance and effectiveness in practical measurement scenarios.

Conclusions:

• The proposed integrated system offers a robust solution for the 3D measurement of large-scale objects.
• This technique advances the field of metrology by combining robotic scanning with precise pose estimation.
• The method is suitable for applications requiring high-accuracy 3D data of extensive structures.