Abstract
In this paper, we focus on the construction of a full 3D model of a canal tunnel by combining terrestrial laser (for its above-water part) and sonar (for its underwater part) scans collected from static acquisitions. The modeling of such a structure is challenging because the sonar device is used in a narrow environment that induces many artifacts. Moreover, the location and the orientation of the sonar device are unknown. In our approach, sonar data are first simultaneously denoised and meshed. Then, above- and under-water point clouds are co-registered to generate directly the full 3D model of the canal tunnel. Faced with the lack of overlap between both models, we introduce a robust algorithm that relies on geometrical entities and partially-immersed targets, which are visible in both the laser and sonar point clouds. A full 3D model, visually promising, of the entrance of a canal tunnel is obtained. The analysis of the method raises several improvement directions that will help with obtaining more accurate models, in a more automated way, in the limits of the involved technology.
Highlights
The use of three-dimensional (3D) data acquisition systems for building models of partly-submerged infrastructures is currently undergoing an important development
We focus on the construction of an accurate 3D model of the entrances of a tunnel canal, from static acquisitions of point clouds
This model shall be used as a reference for future accuracy assessments in the context of the development of an embedded acquisition system devoted to the full 3D modeling of canal tunnels
Summary
The use of three-dimensional (3D) data acquisition systems (point clouds or images) for building models of partly-submerged infrastructures is currently undergoing an important development. In the context of a partnership between Voies Navigables de France (VNF, the French operator of waterways), the Centre d’Études des tunnels (CETU) and the Cerema, in collaboration with the Photogrammetry and Geomatics Group at INSA-Strasbourg (institut national des sciences appliquées), an image acquisition prototype, embedded on a barge, has been devised for imaging the tunnel vaults and side walls (see Figure 1). During this project, solutions to geo-reference data precisely in the tunnel have been proposed and evaluated [8]. This system is going to be equipped with a multibeam echosounder to provide 3D views of the underwater parts of tunnel canals
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