3D Laser-based Diret Odometry for Tunnel Surveying
The acceleration of urbanization gives rise to utilization demands on tunnel projects,while the photophobic characteristics of tunnel structures render most conventional detection methods ineffective.To address this,the present paper proposes a direct method of 3D laser odometry tailored for tunnel surveying.By integrating the adaptive iterative clo-sest point (ICP)algorithm,this system effectively processes complex spatial data within tunnels,achieving high-precision pose estimation.The direct odometry extracts pose information directly from the acquired laser point cloud data,thus a-voiding data loss typically associated with conventional feature extraction processes.In the experimental section,data col-lected via a track vehicle within the tunnel enabled accurate pose estimation and high-precision mapping in complex tunnel environments.The application of this technology not only enhances the efficiency of tunnel inspection and maintenance but also provides an effective solution for high-precision pose estimation in challenging environments such as tunnels,offering broad application prospects and practical value.
万方数据
维普
