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Application of 3D reconstruction technology based on an improved MC algorithm in a shotcreting robot
Applied Optics
|October 18, 2022
Summary
This study presents an improved 3D reconstruction method for tunnel arch surfaces using LIDAR and a novel marching cube algorithm. The technique ensures accurate and rapid 3D modeling for shotcreting robots.
Area of Science:
- Robotics and Automation
- Computer Vision
- Geospatial Engineering
Background:
- Shotcreting robots require precise 3D arch surface reconstruction for tunnel spraying.
- Existing methods may lack accuracy or efficiency in complex tunnel environments.
Purpose of the Study:
- To develop an improved 3D reconstruction method for tunnel arch surfaces.
- To enhance the accuracy and speed of 3D modeling for shotcreting applications.
Main Methods:
- Acquisition of tunnel arch point cloud data using explosion-proof LIDAR.
- Point cloud processing including splicing, segmentation, and simplification using ICP, PassThrough, and StatisticalOutlierRemoval filters.
- Application of an improved marching cube algorithm with adjusted point cloud normals for enhanced reconstruction accuracy.
Main Results:
- Successful 3D reconstruction of the tunnel arch surface.
- Demonstrated high speed and accuracy in experimental results.
- The method provides a foundation for trajectory planning and spraying control.
Conclusions:
- The proposed improved marching cube method effectively reconstructs tunnel arch surfaces.
- The technique offers a robust solution for 3D modeling in shotcreting robotics.
- This work facilitates advancements in automated tunnel construction and monitoring.
