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dc.contributor.authorBellés, Cristóbal
dc.contributor.authorPla, Filiberto
dc.description.abstractA system for automatic 3D modeling of sewer manholes using two Microsoft Kinect sensors is presented. The hardware design is based on a hand-held scanner that includes two Kinect sensors, a mini-PC and LED-based illumination bars. The scanning and reconstruction software has been implemented using open-source software toolkits. The information from the two Kinect sensors is merged into a single 3D model. Reconstruction is performed by adapting an existing RGB-D SLAM-based algorithm by filtering out nonconsistent correspondences and an alternative graph-based optimization, which results in reconstruction errors of the order of 1 cm. The final result obtained is a complete system with a hand-held scanner and management software which is highly competitive with respect to present commercial systems, using much cheaper technology and open-source toolkits with low reconstruction errors.ca_CA
dc.description.sponsorShipThis work has been funded and supported by the company Sociedad de Fomento Agr´ıcola Castellonense S.A. and partially supported by project PROMETEOII/ 2014/062. We are grateful to Nicolas Burrus for the excellent open-source piece of software RGBDemo.ca_CA
dc.format.extent12 p.ca_CA
dc.relation.isPartOfComputer-Aided Civil and Infrastructure Engineering, 2015, vol. 30, núm. 11ca_CA
dc.rightsPublished online in Wiley Online Library ( © 2014 Computer-Aided Civil and Infrastructure Engineering.ca_CA
dc.subjectLight emitting diodesca_CA
dc.titleA Kinect-Based System for 3D Reconstruction of Sewer Manholesca_CA

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