by Bradley Skinner, Teresa Vidal-Calleja, Jaime Valls Miro, Freek De Bruijn, and Raphael Falque
Centre for Autonomous Systems, Faculty of Engineering and Information Technology University of Technology Sydney
(E-mail: Bradley.Skinner@uts.edu.au, teresa.vidalcalleja@uts.edu.au, Jaime.VallsMiro@uts.edu.au, Freek.DeBruijn@uts.edu.au, raphael.h.guenot-falque@student.uts.edu.au)
Published in:
Proceedings of Australasian Conference on Robotics and Automation
Date of Conference:
2-4 Dec 2014
Conference Location :
Melbourne, Australia
Abstract
This paper presents a novel robust processing methodology for computing 2.5D thickness maps from dense 3D collocated surfaces. The proposed pipeline is suitable to faithfully adjust data representation detailing as required, from preserving fine surface features to coarse interpretations. The foundations of the proposed technique exploit spatial point-based filtering, ray tracing techniques and the Robust Implicit Moving Least Squares (RIMLS) algorithm applied to dense 3D datasets, such as those acquired from laser scanners. The effectiveness of the proposed technique in overcoming traditional angular aliasing and corruption artifacts is validated with 3D ranging data acquired from internal and external surfaces of exhumed water pipes. It is shown that the resulting 2.5D maps can be more accurately and completely computed to higher resolutions, while significantly reducing the number of raytracing errors when compared with 2.5D thickness maps derived from our current approach.