Augmented reality (AR) systems are becoming next-generation technologies to intelligently visualize the real world in 3D. This research proposes a sensor fusion based pipeline inspection and retrofitting for the AR system, which can be used in pipeline inspection and retrofitting processes in industrial plants. The proposed methodology utilizes a prebuilt 3D point cloud data of the environment, real-time Light Detection and Ranging (LiDAR) scan and image sequence from the camera. First, we estimate the current pose of the sensors platform by matching the LiDAR scan and the prebuilt point cloud data from the current pose prebuilt point cloud data augmented on to the camera image by utilizing the LiDAR and camera calibration parameters. Next, based on the user selection in the augmented view, geometric parameters of a pipe are estimated. In addition to pipe parameter estimation, retrofitting in the existing plant using augmented scene are illustrated. Finally, step-by-step procedure of the proposed method was experimentally verified at a water treatment plant. Result shows that the integration of AR with building information modelling (BIM) greatly benefits the post-occupancy evaluation process or pre-retrofitting and renovation process for identifying, evaluating, and updating the geometric specifications of a construction environment.
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