Efficient point cloud collision detection and analysis in a tunnel environment using kinematic laser scanning and K-D Tree search

Abstract

ABSTRACT:Measuring the structure gauge of tunnels and other narrow passages has so far been the only way to evaluate whether large vehicles can pass through them. But especially for very long vehicles like train wagons and their cargo, the structure gauge is an insufficient measure because the center part of the vehicle between two bogies will inevitably leave the swept volume of its cross section when moving along any other trajectory than a straight line perpendicular to its cross section. In addition, the vehicle as well as the cargo must keep a minimum safety margin from the environment at all points of its trajectory. This paper explores an automated method to check for possible collisions of a model represented by a 3D point cloud moving through the 3D point cloud of an environment. We were given environment data of a train track through a narrow tunnel where simply relying on the structure gauge would indicate that a given wagon would pass through without any collision even though in reality, the train wagon would collide with the inner tunnel wall inside a sharp turn of the tracks. The k-d tree based collision detection method presented in this paper is able to correctly highlight these collisions and indicate the penetration depth of each colliding point of the environment into the model of the train wagon. It can be generalized for any setup where two static point clouds have to be tested for intersection along a trajectory.

A Systematic Approach for Online Minimizing Volume Difference of Multiple Chambers in Machining Processes Based on High-Definition Metrology

“…The point-to-point search is easy to implement but it cannot satisfy the computational time in terms of huge point cloud. Therefore, k-d tree [20,21] is applied to accelerate the match of point set.…”

Conceptual Issues Regarding the Development of Underground Railway Laser Scanning Systems

“…In addition, research has illustrated the efficiency of train collision detection using the MLS technique [37], which is a more comprehensive and multi-purpose solution. Collision detection is not the only function of URLS, nevertheless, the conditions of different sections of the railway tunnel are simultaneously monitored by any train equipped with URLS systems; the risk of collision with trackside objects or equipment damages would be better assessed through their use.…”

Application of 3D Scanning, Computer Simulations and Virtual Reality in the Redesigning Process of Selected Areas of Underground Transportation Routes in Coal Mining Industry

“…Besides the standard implementation of 3D scanning technology on the surface, this method may be applied also for tunnel [13] and underground mining [14,15] surveying. The result of the 3D scanning process may be utilized for collision analysis [16] and also as a basis for other activities e.g., for postaccident analysis [17] where the process of fast evidence collecting and freezing the scene is crucial. Presented examples solve a specific problem that occurs during underground transportations system operation, but also in other sectors this problem was analyzed [18].…”