Abstract
Acquisition of 3D point cloud data (PCD) using a laser scanner and aligning it with a video frame is a new approach that is efficient for retrofitting comprehensive objects in heavy pipeline industrial facilities. This work contributes a generic framework for interactive retrofitting in a virtual environment and an unmanned aerial vehicle (UAV)-based sensory setup design to acquire PCD. The framework adopts a 4-in-1 alignment using a point cloud registration algorithm for a pre-processed PCD alignment with the partial PCD, and frame-by-frame registration method for video alignment. This work also proposes a virtual interactive retrofitting framework that uses pre-defined 3D computer-aided design models (CAD) with a customized graphical user interface (GUI) and visualization of a 4-in-1 aligned video scene from a UAV camera in a desktop environment. Trials were carried out using the proposed framework in a real environment at a water treatment facility. A qualitative and quantitative study was conducted to evaluate the performance of the proposed generic framework from participants by adopting the appropriate questionnaire and retrofitting task-oriented experiment. Overall, it was found that the proposed framework could be a solution for interactive 3D CAD model retrofitting on a combination of UAV sensory setup-acquired PCD and real-time video from the camera in heavy industrial facilities.
Highlights
Due to increase in availability, decreased price, and the development of virtual techniques, 3D scene (Data) acquisition of real-world environments has drawn much interest in related research and development work
In our previous work [8], we proposed a novel prototype framework for pipeline virtual retrofitting with 4-in-1 alignment approach, and experiments were conducted by setting an experimental scenario in an indoor environment
Five in total were designed in favor of immersion, level of consistency, level of efficiency, interface quality, and ease of use to perform retrofitting
Summary
Due to increase in availability, decreased price, and the development of virtual techniques, 3D scene (Data) acquisition of real-world environments has drawn much interest in related research and development work. The motivation behind these efforts is to represent real-world environments in 3D. High-resolution scanners (e.g., Trimble) need more time to complete a full scan because they generate a highly dense grid of dots.
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