Automatic 3D Reconstruction of As-built Pipeline Based on Curvature Computations from Laser-Scanned Data

Abstract

Demand has been growing for three-dimensional (3D) reconstruction of asbuilt pipelines that occupy large areas within operating plants. In practice, measurements are efficiently performed using laser-scanning technology; however reconstructing an as-built pipeline from this laser-scanned data remains challenging. The data acquired from the plant facility can be incomplete due to complex occlusion, or it can be affected by noise due to the reflective surfaces of the pipelines and other parts. The aim of this study is to propose a method for generating models of entire pipelines that include straight pipes, elbows, reducers, and tee pipes from laserscanned data. The proposed 3D reconstruction method for as-built pipelines is divided into three main tasks: (1) identifying the types and locations of the pipelines from the laser-scanned data; (2) segmenting the pipelines into each type of pipe form; and (3) reconstructing the pipelines’ geometry and topology and generating models of them. Field experiments were performed at an operating industrial plant in order to validate the proposed method. The results revealed that the proposed method can indeed contribute to the automation of 3D reconstruction of as-built pipelines.