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Three-dimensional laser scanning and as-built CAD modeling of complex piping systems are increasingly used in plant engineering. In as-built modeling, multiple partially scanned point clouds of objects largely composed of cylindrical pipes are captured from different viewpoints by a terrestrial laser scanner (TLS). The registration process aligns these point clouds into a consistent coordinate system. The pipe parameters are then estimated by fitting cylinders to the registered point clouds. Therefore, both the registration and cylinder model fitting must be sufficiently accurate for as-built modeling of piping systems. As shown Fig. 1., we propose a new algorithm for registration and model fitting of laser-scanned point clouds. The algorithm is specialized for as-built modeling of the cylindrical pipes of plants. Unlike the ICP-based method, our model simultaneously solves the fine registration and model fitting problem by expressing them as a single nonlinear constraint equation. This fine registration works even when the overlap between scans is completely absent, and achieves a more accurate registration and fitting than the ICP-based method. The coarse registration is automated by assigning the cylindrical surfaces in the scans as geometric features for the alignment. This paper describes the proposed algorithm and compares its accuracy with that of a conventional ICP-based method in scan simulations.

Cylinder-based Simultaneous Registration and Model Fitting of Laser-scanned Point Clouds for Accurate As-built Modeling of Plant Piping Systems