title: Adjustment of Sonar and Laser Acquisition Data for Building the 3D Reference Model of a Canal Tunnel.
abstract: In this paper, we focus on the construction of a full 3D model of a canal tunnel by combining terrestrial laser (for its above-water part) and sonar (for its underwater part) scans collected from static acquisitions. The modeling of such a structure is challenging because the sonar device is used in a narrow environment that induces many artifacts. Moreover, the location and the orientation of the sonar device are unknown. In our approach, sonar data are first simultaneously denoised and meshed. Then, above- and under-water point clouds are co-registered to generate directly the full 3D model of the canal tunnel. Faced with the lack of overlap between both models, we introduce a robust algorithm that relies on geometrical entities and partially-immersed targets, which are visible in both the laser and sonar point clouds. A full 3D model, visually promising, of the entrance of a canal tunnel is obtained. The analysis of the method raises several improvement directions that will help with obtaining more accurate models, in a more automated way, in the limits of the involved technology.
authors.affiliation: Cerema Dter Est, Image Processing and Optical Methods Research Team, 11 rue Jean Mentelin, B.P. 9, Strasbourg 67035, France. emmanuel.moisan@cerema.fr.|ICube Laboratory UMR 7357, Photogrammetry and Geomatics Group, INSA Strasbourg, 24 Boulevard de la Victoire, Strasbourg 67084, France. emmanuel.moisan@cerema.fr.
authors.forename: Emmanuel
authors.initials: E
authors.lastname: Moisan
authors.affiliation: Cerema Dter Est, Image Processing and Optical Methods Research Team, 11 rue Jean Mentelin, B.P. 9, Strasbourg 67035, France. Pierre.Charbonnier@cerema.fr.
authors.forename: Pierre
authors.initials: P
authors.lastname: Charbonnier
authors.affiliation: Cerema Dter Est, Image Processing and Optical Methods Research Team, 11 rue Jean Mentelin, B.P. 9, Strasbourg 67035, France. Philippe.Foucher@cerema.fr.
authors.forename: Philippe
authors.initials: P
authors.lastname: Foucher
authors.affiliation: ICube Laboratory UMR 7357, Photogrammetry and Geomatics Group, INSA Strasbourg, 24 Boulevard de la Victoire, Strasbourg 67084, France. pierre.grussenmeyer@insa-strasbourg.fr.
authors.forename: Pierre
authors.initials: P
authors.lastname: Grussenmeyer
authors.affiliation: ICube Laboratory UMR 7357, Photogrammetry and Geomatics Group, INSA Strasbourg, 24 Boulevard de la Victoire, Strasbourg 67084, France. samuel.guillemin@insa-strasbourg.fr.
authors.forename: Samuel
authors.initials: S
authors.lastname: Guillemin
authors.affiliation: ICube Laboratory UMR 7357, Photogrammetry and Geomatics Group, INSA Strasbourg, 24 Boulevard de la Victoire, Strasbourg 67084, France. mathieu.koehl@insa-strasbourg.fr.
authors.forename: Mathieu
authors.initials: M
authors.lastname: Koehl
keywords: 3D modeling; LiDAR; multibeam echosounder; registration of underwater data; robust estimation; terrestrial laser scanning