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| A 3D Reconstruction， Measurement and Collision System for Unmanned Pneumatic Caisson |
| LI Bao-shun1, CAO Qi-xin1, ZHANG Lei1, JAY Lee2 |
(1. School of Mechanical Engineering， Shanghai Jiaotong University, Shanghai 200240, China;
2. Research Center of Intelligent Maintenance Systems, the University of Cincinnati, Cincinnati 210072, USA) |
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Abstract A 3D surface modeling, measuring and excavator collision detection system was presented. By using several 2D laser scanning sensors, the system can scan the whole surface in the pneumatic caisson. After registration and segmentation of point cloud, a real 3D scene of the working chamber of the pneumatic caisson can be modeled. With multisensor fusion, the collision detection of excavators and measurement of the pose of the pneumatic caisson can be done. The experiments show that the system has good performance and good stability and can be put into practical use.
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Received: 25 October 2007
Published: 28 October 2008
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