基于水下机器人的水下混凝土结构表观病害三维重建方法  

METHOD FOR 3D RECONSTRUCTION OF SURFACE DISEASES OF UNDERWATER CONCRETE STRUCTURES BASED ON ROV

作　　者：周浩翔 刘爱荣[1] 李伟财 陈炳聪 王家琳 吴志华 杨勇 ZHOU Hao-xiang;LIU Ai-rong;LI Wei-cai;CHEN Bing-cong;WANG Jia-lin;WU Zhi-hua;YANG Yong(Research Center of Wind Engineering and Engineering Vibration,Guangzhou,Guangdong 510006,China;Guangdong Rongjun Construction Engineering Inspection Co.,LTD,Guangzhou,Guangdong 511400,China;Guangzhou Municipal Engineering Design&Research Institute Co.,LTD,Guangzhou,Guangdong 510060,China)

机构地区：[1]广州大学风工程与工程振动研究中心,广东广州510006 [2]广东荣骏建设工程检测股份有限公司,广东广州511400 [3]广州市市政工程设计研究总院有限公司,广东广州510060

出　　处：《工程力学》2024年第S01期129-135,共7页Engineering Mechanics

基　　金：国家重点研发计划项目(2022YFB2603303);广州市基础研究计划市校(院)企联合资助项目(2024A03J0318);高等学校学科创新引智计划项目(111计划D21021);广州市科技计划项目(20212200004)。

摘　　要：利用水下机器人进行水下结构病害检测能大幅提升检测效率、降低检测成本,然而利用水下机器人拍摄得到的水下结构平面图像仅包含结构表面的有限信息。通过对水下结构三维重构可以直观地显示结构的空间构形和特征,可以多视角、全方位获取结构的表观缺陷信息。该文提出了基于水下机器人拍摄平面图像的水下混凝土结构三维重建方法,通过水下折射摄像机成像模型、SIFT特征提取和匹配算法以及点云重建的方式对水下带病害的混凝土结构表面进行三维重建。实验表明:该文提出的水下混凝土结构三维重建方法能实现病害三维立体展示,从多视角清晰获取水下结构表面病害信息。The utilization of underwater vehicles in the inspection of underwater structural diseases can lead to significant improvements in efficiency and reduction in inspection costs.However,the images taken by underwater vehicles only contain limited information about the surface of the structure.3D reconstruction of underwater structures enables the visualization of the spatial configuration and characteristics of the structure,providing apparent diseases information from multiple perspectives and directions.In this paper,a method for 3D reconstruction of underwater concrete structures based on planar images captured by underwater vehicle is proposed.The 3D reconstruction of underwater concrete structures with diseases is achieved through the application of an underwater refractive camera model,SIFT feature extraction and matching algorithm,and point cloud reconstruction.The results show that the 3D reconstruction method proposed in this paper for underwater concrete structures can achieve a 3D display of diseases and provide clear acquisition of underwater structural surface disease information from various perspectives.

关 键 词：水下结构 三维重建 ROV 病害检测 水下折射模型 运动恢复结构 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术] TP242[自动化与计算机技术—计算机科学与技术] U446[建筑科学—桥梁与隧道工程]