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Open AccessArticle

On-Site 4-in-1 Alignment: Visualization and Interactive CAD Model Retrofitting Using UAV, LiDAR’s Point Cloud Data, and Video

Graduate School of Advanced Imaging Science, Multimedia, and Film, Chung-Ang University, Seoul 06974, Korea
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Sensors 2019, 19(18), 3908; https://doi.org/10.3390/s19183908
Received: 15 July 2019 / Revised: 4 September 2019 / Accepted: 7 September 2019 / Published: 10 September 2019
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.
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Keywords: unmanned aerial vehicle; laser scanner; point cloud data; point cloud alignment; retrofitting; cad model; visualization; interactions unmanned aerial vehicle; laser scanner; point cloud data; point cloud alignment; retrofitting; cad model; visualization; interactions
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B. N., P.K.; Patil, A.K.; B., C.; Chai, Y.H. On-Site 4-in-1 Alignment: Visualization and Interactive CAD Model Retrofitting Using UAV, LiDAR’s Point Cloud Data, and Video. Sensors 2019, 19, 3908.

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