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Open AccessArticle

A Moving 3D Laser Scanner for Automated Underbridge Inspection

Politecnico di Milano, Dipartimento di Meccanica, Via La Masa 1, 20156 Milano, Italy
Dipartimento di Ingegneria Industriale e dell’Informazione, Università degli Studi di Pavia, via Ferrata 5, 27100 Pavia, Italy
Gexcel-Geomatics & Excellence, Via Branze 45-25123 Brescia, Italy
Author to whom correspondence should be addressed.
Machines 2017, 5(4), 32;
Received: 27 October 2017 / Revised: 14 December 2017 / Accepted: 18 December 2017 / Published: 19 December 2017
Recent researches have proven that the underbridge geometry can be reconstructed by mounting a 3D laser scanner on a motorized cart travelling on a walkway located under the bridge. The walkway is moved by a truck and the accuracy of the bridge model depends on the accuracy of the trajectory of the scanning head with respect to a fixed reference system. In this paper, we describe a vision-based measurement system that can be used to identify the relative motion of the cart that moves the 3D laser scanner with respect to the walkway. The orientation of the walkway with respect to the bridge is determined using inclinometers and a camera that detect the position of a laser spot, while the position of the truck with respect to the bridge is measured using a conventional odometer. The accuracy of the proposed system was initially evaluated by numerical simulations and successively verified by experiments in laboratory conditions. The complete system has then been tested by comparing the geometry of buildings reconstructed using the proposed system with the geometry obtained with a static scan. Results showed that the error is less than 6 mm; given the satisfying quality of the point clouds obtained, it is also possible to detect small defects on the surface. View Full-Text
Keywords: laser; construction monitoring; measurements; uncertainty; bridge inspection laser; construction monitoring; measurements; uncertainty; bridge inspection
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Tarabini, M.; Giberti, H.; Giancola, S.; Sgrenzaroli, M.; Sala, R.; Cheli, F. A Moving 3D Laser Scanner for Automated Underbridge Inspection. Machines 2017, 5, 32.

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