A Contactless Measurement Instrument Based on Fusion of A Single-Point Laser Range Finder and A VIO System

Abstract

To improve the safety and convenience of the traditional measurement instruments (such as Total station, Laser tracker), while reducing the system cost, a contactless measurement instrument consists of a single-point laser range finder (LRF) and a tracking module (a VIO system providing the measurement system 6DoF poses) is proposed in this paper. Its measuring procedure includes three steps: 1) Obtain the calibrated relative position parameters from a 3D position of the LRF. 2) Determine the remote target 3D point positions by fusing the measurement value of LRF. 3) In order to improve measurement accuracy, design a practical case-specific framework by analysing two typical measurement situations. This allows us to measure all scale factor information such as distance, height and clearance of a spatial structure in a convenient or portable way. Through the remote 3D point positions estimation experiment, the contactless measurement instrument exhibits the capability to satisfy the need of majority measurement applications for indoor architecture.