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Sensors 2015, 15(12), 31180-31204; doi:10.3390/s151229855

Adjustment of Sonar and Laser Acquisition Data for Building the 3D Reference Model of a Canal Tunnel

1
Cerema Dter Est, Image Processing and Optical Methods Research Team, 11 rue Jean Mentelin, B.P. 9, Strasbourg 67035, France
2
ICube Laboratory UMR 7357, Photogrammetry and Geomatics Group, INSA Strasbourg, 24 Boulevard de la Victoire, Strasbourg 67084, France
This paper is an extended version of our paper published in Moisan, E., Charbonnier, P., Foucher, P., Grussenmeyer, P., Guillemin, S., and Koehl, M.: Building a 3D reference model for canal tunnel surveying using sonar and laser scanning, Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-5/W5, 153-159, doi:10.5194/isprsarchives-XL-5-W5-153-2015, 2015.
*
Author to whom correspondence should be addressed.
Academic Editors: Fabio Menna, Fabio Remondino and Hans-Gerd Maas
Received: 30 October 2015 / Revised: 2 December 2015 / Accepted: 3 December 2015 / Published: 11 December 2015
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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. View Full-Text
Keywords: 3D modeling; terrestrial laser scanning; multibeam echosounder; robust estimation; registration of underwater data; LiDAR 3D modeling; terrestrial laser scanning; multibeam echosounder; robust estimation; registration of underwater data; LiDAR
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Moisan, E.; Charbonnier, P.; Foucher, P.; Grussenmeyer, P.; Guillemin, S.; Koehl, M. Adjustment of Sonar and Laser Acquisition Data for Building the 3D Reference Model of a Canal Tunnel. Sensors 2015, 15, 31180-31204.

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