Geometric Modelling for 3D Point Clouds of Elbow Joints in Piping Systems
Pipe elbow joints exist in almost every piping system supporting many important applications such as clean water supply. However, spatial information of the elbow joints is rarely extracted and analyzed from observations such as point cloud data obtained from laser scanning due to lack of a complete...
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MDPI AG
2020-08-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/16/4594 |
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| author | Ting On Chan Linyuan Xia Derek D. Lichti Yeran Sun Jun Wang Tao Jiang Qianxia Li |
| author_facet | Ting On Chan Linyuan Xia Derek D. Lichti Yeran Sun Jun Wang Tao Jiang Qianxia Li |
| author_sort | Ting On Chan |
| collection | DOAJ |
| description | Pipe elbow joints exist in almost every piping system supporting many important applications such as clean water supply. However, spatial information of the elbow joints is rarely extracted and analyzed from observations such as point cloud data obtained from laser scanning due to lack of a complete geometric model that can be applied to different types of joints. In this paper, we proposed a novel geometric model and several model adaptions for typical elbow joints including the 90° and 45° types, which facilitates the use of 3D point clouds of the elbow joints collected from laser scanning. The model comprises translational, rotational, and dimensional parameters, which can be used not only for monitoring the joints’ geometry but also other applications such as point cloud registrations. Both simulated and real datasets were used to verify the model, and two applications derived from the proposed model (point cloud registration and mounting bracket detection) were shown. The results of the geometric fitting of the simulated datasets suggest that the model can accurately recover the geometry of the joint with very low translational (0.3 mm) and rotational (0.064°) errors when ±0.02 m random errors were introduced to coordinates of a simulated 90° joint (with diameter equal to 0.2 m). The fitting of the real datasets suggests that the accuracy of the diameter estimate reaches 97.2%. The joint-based registration accuracy reaches sub-decimeter and sub-degree levels for the translational and rotational parameters, respectively. |
| first_indexed | 2024-03-10T17:21:55Z |
| format | Article |
| id | doaj.art-dfa8911bf9f34f089cedfdc513b1fc00 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T17:21:55Z |
| publishDate | 2020-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-dfa8911bf9f34f089cedfdc513b1fc002023-11-20T10:19:24ZengMDPI AGSensors1424-82202020-08-012016459410.3390/s20164594Geometric Modelling for 3D Point Clouds of Elbow Joints in Piping SystemsTing On Chan0Linyuan Xia1Derek D. Lichti2Yeran Sun3Jun Wang4Tao Jiang5Qianxia Li6Guangdong Provincial Key Laboratory of Urbanization and Geo-Simulation, School of Geography and Planning, Sun Yat-sen University, Guangzhou 510000, ChinaGuangdong Provincial Key Laboratory of Urbanization and Geo-Simulation, School of Geography and Planning, Sun Yat-sen University, Guangzhou 510000, ChinaDepartment of Geomatics Engineering, University of Calgary, 2500 University Dr NW, Calgary, AB T2N 1N4, CanadaDepartment of Geography, College of Science, Swansea University, Swansea SA28PP, UKSchool of Electrical and Computer Engineering, Nanfang College of Sun Yat-sen University, Guangzhou 510000, ChinaGuangdong Provincial Key Laboratory of Urbanization and Geo-Simulation, School of Geography and Planning, Sun Yat-sen University, Guangzhou 510000, ChinaGuangdong Provincial Key Laboratory of Urbanization and Geo-Simulation, School of Geography and Planning, Sun Yat-sen University, Guangzhou 510000, ChinaPipe elbow joints exist in almost every piping system supporting many important applications such as clean water supply. However, spatial information of the elbow joints is rarely extracted and analyzed from observations such as point cloud data obtained from laser scanning due to lack of a complete geometric model that can be applied to different types of joints. In this paper, we proposed a novel geometric model and several model adaptions for typical elbow joints including the 90° and 45° types, which facilitates the use of 3D point clouds of the elbow joints collected from laser scanning. The model comprises translational, rotational, and dimensional parameters, which can be used not only for monitoring the joints’ geometry but also other applications such as point cloud registrations. Both simulated and real datasets were used to verify the model, and two applications derived from the proposed model (point cloud registration and mounting bracket detection) were shown. The results of the geometric fitting of the simulated datasets suggest that the model can accurately recover the geometry of the joint with very low translational (0.3 mm) and rotational (0.064°) errors when ±0.02 m random errors were introduced to coordinates of a simulated 90° joint (with diameter equal to 0.2 m). The fitting of the real datasets suggests that the accuracy of the diameter estimate reaches 97.2%. The joint-based registration accuracy reaches sub-decimeter and sub-degree levels for the translational and rotational parameters, respectively.https://www.mdpi.com/1424-8220/20/16/4594elbow jointsgeometric modellaser scanningpoint cloud registration |
| spellingShingle | Ting On Chan Linyuan Xia Derek D. Lichti Yeran Sun Jun Wang Tao Jiang Qianxia Li Geometric Modelling for 3D Point Clouds of Elbow Joints in Piping Systems Sensors elbow joints geometric model laser scanning point cloud registration |
| title | Geometric Modelling for 3D Point Clouds of Elbow Joints in Piping Systems |
| title_full | Geometric Modelling for 3D Point Clouds of Elbow Joints in Piping Systems |
| title_fullStr | Geometric Modelling for 3D Point Clouds of Elbow Joints in Piping Systems |
| title_full_unstemmed | Geometric Modelling for 3D Point Clouds of Elbow Joints in Piping Systems |
| title_short | Geometric Modelling for 3D Point Clouds of Elbow Joints in Piping Systems |
| title_sort | geometric modelling for 3d point clouds of elbow joints in piping systems |
| topic | elbow joints geometric model laser scanning point cloud registration |
| url | https://www.mdpi.com/1424-8220/20/16/4594 |
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