A New 3D Shape Measurement Method of Trenchless Underground Pipeline

摘要

In order to solve the problem of environmental electromagnetic interference tornmeasuring instrument, a new 3D shape measurement method of trenchlessrnunderground pipeline is presented in this paper. At first the geometric information ofrnpipeline such as the curvature and the slope of the pipeline axis are studied. Then thern3D shape of the pipeline is reconstructed by the geometric information. The opticalrnmeasurement method and the 3D shape reconstruction algorithm of the pipeline arernalso analyzed in the paper. Finally, the experimental prototype is introduced and thernresult of a set of pipeline experiments is presented.