Toward Automatic Subsurface Pipeline Mapping by Fusing a Ground-Penetrating Radar and a Camera
Toward Automatic Subsurface Pipeline Mapping by Fusing a Ground-Penetrating Radar and a Camera
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DOI：
10.1109/tase.2019.2941848
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发表时间：
2020-04
影响因子：
5.6
通讯作者：
Haifeng Li;Chieh Chou;Longfei Fan;Binbin Li;Di Wang;Dezhen Song
中科院分区：
文献类型：
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作者：
Haifeng Li;Chieh Chou;Longfei Fan;Binbin Li;Di Wang;Dezhen Song
提出了一种基于探地雷达（GPR）扫描和相机图像融合的地下管道测绘和三维重建方法。为了方便多管道同时探测，我们建立了探地雷达探测过程模型，并证明了非垂直角度一般扫描的双曲线响应。此外，我们融合了视觉同步定位和映射输出，编码器读数与GPR扫描，将双曲线分类为不同的管道组。为了提高算法的鲁棒性和准确性，我们广泛应用了J-linkage方法和带误差分析的极大似然估计。因此，我们最优地估计了所有管道的半径和位置。我们已经实现了我们的方法，并在具有代表性的管道配置的物理实验中进行了测试。使用两种不同的3米长的管道，半径分别为4.62和3.02厘米。结果表明，该方法成功地重建了所有地下管道。两种管道取向角的平均估计误差分别为1.73°和0.73°。平均定位误差为4.47 cm。自动、准确的地下管线测绘技术在土建工程中具有十分重要的意义。缺乏三维公用管道图可能会导致土木施工和维护中的意外损坏。虽然基于探地雷达（gpr）的管道测绘方法已经研究了几年，但这些方法需要对管道进行垂直扫描，由于管道的方向未知，在实践中无法保证。此外，这些传统方法一次只能估计一个测量区域内的一条管道，并且需要事先了解管道直径。针对多管道、管道方向未知、管道直径未知等困难因素，提出了一种基于探地雷达和相机的机器人地下管道测绘方法。因此，我们可以沿着任何一般的线性轨迹进行探地雷达扫描。我们的方法已经在具有代表性的管道结构的物理实验中得到了验证。结果表明，该方法具有较高的精度，是一种有效的地下管线重建技术。
We propose a novel subsurface pipeline mapping and 3D reconstruction method by fusing ground-penetrating radar (GPR) scans and camera images. To facilitate the simultaneous detection of multiple pipelines, we model the GPR sensing process and prove hyperbola response for general scanning with nonperpendicular angles. Furthermore, we fuse visual simultaneous localization and mapping outputs, encoder readings with GPR scans to classify hyperbolas into different pipeline groups. We extensively apply the J-linkage method and maximum likelihood estimation with error analysis to improve algorithm robustness and accuracy. As a result, we optimally estimate the radii and locations of all pipelines. We have implemented our method and tested it in physical experiments with representative pipeline configurations. Two different kinds of 3-m-long pipes are used, with radii being 4.62 and 3.02 cm, respectively. The results show that our method successfully reconstructs all subsurface pipes. Moreover, the average estimation errors for two orientation angles of pipelines are 1.73° and 0.73°, respectively. The average localization error is 4.47 cm. Note to Practitioners—Automatic and accurate underground pipeline mapping technology is very important in civil construction projects. Lack of 3D utility pipeline maps may lead to accidental damage in civil construction and maintenance. Although ground-penetrating radar (GPR-based pipeline mapping methods have been studied for several years, these methods require the perpendicular scanning with respect to the pipe, which is impossible to guarantee in practice since the orientations of pipelines are unknown. Furthermore, these traditional methods can only estimate one pipeline at a time in a survey area and require prior knowledge of pipe diameter. We propose a robotic subsurface pipeline mapping method with a GPR and a camera to handle difficult factors such as multiple pipes, unknown pipeline orientation, and unknown pipeline diameters. Hence, we can perform GPR scanning along any generic linear trajectories. Our method has been tested in physical experiments with representative pipeline configurations. The results are sufficiently accurate, and it proves that our method can be an effective technology to reconstruct the underground pipelines.