RGB-D Camera for 3D Laser Point Cloud Hole Repair in Mine Access Shaft Roadway

Abstract

With the rapid development of the geographic information service industry, point cloud data are widely used in various fields, such as architecture, planning, cultural relics protection, mining engineering, etc. Despite that there are many approaches to collecting point clouds, we are facing the problem of point cloud holes caused by the inability of a 3D laser scanner to collect data completely in the narrow space of the mine access shaft. Thus, this paper uses RGB-D cameras to collect data and reconstruct the hole in the point cloud. We used a 3D laser scanner and RGB-D depth camera to collect the 3D point cloud data of the access shaft roadway. The maximum error was 2.617 cm and the minimum error was 0.031 cm by measuring the distance between the feature points, which satisfied the visualization repair of the missing parts of the 3D laser scanner data collection. We used the FPTH + ICP algorithm, ISS + ICP algorithm, SVD + ICP algorithm, and 3D-NDT algorithm to perform registration and fusion of the processed 3D point cloud and the original point cloud and finally repaired the hole. The study results show that the ISS + ICP registration algorithm had the most matching points and the lowest RMSE value of 13.8524 mm. In addition, in the closed and narrow roadway, the RGB-D camera was light and easy to operate and the point data acquired by it had relatively high precision. The three-dimensional point cloud of the repaired access shaft roadway has a good fit and can meet the repair requirements.