APPLICATION OF RGB-D SLAM IN 3D TUNNEL RECONSTRUCTION BASED ON SUPERPIXEL AIDED FEATURE TRACKING

Abstract. In large-scale projects such as hydropower and transportation, the real-time acquisition and generation of the 3D tunnel model can provide an important basis for the analysis and evaluation of the tunnel stability. The Simultaneous Localization And Mapping (SLAM) technology has the advantages of low cost and strong real-time, which can greatly improve the data acquisition efficiency during tunnel excavation. Feature tracking and matching are critical processes of traditional 3D reconstruction technologies such as Structure from Motion (SfM) and SLAM. However, the complicated rock mass structures on the tunnel surface and the limited lighting environment make feature tracking and matching difficult. Manhattan SLAM is a technology integrating superpixels and Manhattan world assumptions, in which both line features and planar features can be better extracted. Rock mass discontinuities including traces and structural planes are distributed on the inner surface of tunnels, which can be extracted for feature tracking and matching. Therefore, this paper proposes a 3D reconstruction pipeline for tunnels, in which, the Manhattan SLAM algorithm is applied for camera pose parameters estimation and the sparse point cloud generation, and the Patch-based Multi-View Stereo (PMVS) is adopted for dense reconstruction. In this paper, the Azure Kinect DK sensor is used for data acquisition. Experiments are proceeded and the results show that the proposed pipeline based on Manhattan SLAM and PMVS performs good robustness and feasibility for tunnels 3D reconstruction.