3D tunnel mapping method combining registration compensation and spatial constraint

doi:10.11947/j.AGCS.2025.20240018

Abstract

Abstract:

Three-dimensional (3D) maps are crucial for early-warning construction safety and long-term safety maintenance of tunnels. However, generating an accurate 3D point cloud map in tunnels characterized by sparse textures, rough structures, and dynamic interference poses a challenging task. This paper proposes a 3D tunnel mapping method to generate point cloud maps of extremely long and noisy scenes. First, a registration residual compensation model is proposed to eliminate the registration errors caused by rough surface structures. The K-means clustering method is used to identify non-planar surface structures, and compensation is carried out based on local region residual. Then, a spatial constraint strategy based on view field maximization is proposed to eliminate point cloud errors caused by absolute measurement deviations. To verify the performance of the proposed method, we conducted experiments during the secondary lining and pipeline laying stages in both drilling and blasting and shield tunnels. The results indicate that the proposed method outperforms the methods of FAST-LIO2, Faster-LIO, and LiLi-OM in terms of both trajectory estimation and map accuracy. Additionally, ablation experiments were conducted to elucidate the contributions of different models in 3D mapping of tunnels.

Key words: mapping, registration compensation, spatial constraint, LiDAR, legged robot

CLC Number:

P231

Xing ZHANG, Zhanpeng HUANG, Qingquan LI, Baoding ZHOU, Qipei LI. 3D tunnel mapping method combining registration compensation and spatial constraint[J]. Acta Geodaetica et Cartographica Sinica, 2025, 54(2): 297-307.

Figures/Tables 12

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数据集	施工阶段	长度/m	激光雷达点数量				扫描帧数量
数据集	施工阶段	长度/m	FAST-LIO2	Faster-LIO	LiLi-OM	本文方法	扫描帧数量
Tunnel-P	管沟敷设	123.2	1 121.9×10⁴	1 122.3×10⁴	152.0×10⁴	1 114.3×10⁴	1451
Tunnel-C	二次衬砌	129.0	905.1×10⁴	905.4×10⁴	124.7×10⁴	904.9×10⁴	1224
Tunnel-T	管沟敷设	101.8	1 535.9×10⁴	1 535.6×10⁴	182.0×10⁴	1 448.3×10⁴	1767

方法	Tunnel-C	Tunnel-T			Tunnel-P
方法	CE/m	CE/m	AME/m	RME/（%）	AME/m	RME/（%）
FAST-LIO2	0.90	0.20	0.07	1.90	0.06	1.09
Faster-LIO	0.59	2.04	0.27	7.38	0.12	2.06
LiLi-OM	1.81	—		—	1.64	28.50
本文方法	0.01	0.03	0.02	0.49	0.02	0.26

方法	Tunnel-C	Tunnel-T			Tunnel-P		计算时间/s
方法	CE/m	CE/m	AME/m	RME/（%）	AME/m	RME/（%）	计算时间/s
残差补偿+无空间约束	0.56	0.19	0.06	1.57	0.07	1.17	0.012
无残差补偿+空间约束	0.84	0.30	0.21	5.94	0.44	7.62	0.013
无残差补偿+无空间约束	1.04	0.51	0.39	10.76	0.57	10.03	0.012
残差补偿+空间约束(本文方法)	0.01	0.03	0.02	0.49	0.02	0.26	0.012