Integration of TLS and sonar for the modelling of semi-immersed structures

Emmanuel Moisan (1, 2) , Philippe Foucher (1) , Pierre Charbonnier (1) , Samuel Guillemin (2) , Matthieu Koehl (2) , Pierre Grussenmeyer (2)

1 ENDSUM - Evaluation non destructive des structures et des matériaux
2 ICube - Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie

In this chapter, we address the topic of 3D reconstruction of semi-immersed structures from laser and sonar data. We take advantage of recent sonar technologies whose static implementation is close to that of terrestrial laser scanners and which also provide 3D point clouds. After introducing the acquisition devices and their implementation on site, we focus on the characteristics of 3D sonar data and their preprocessing. Then we introduce an original method for combining the heterogeneous data (laser and sonar), captured in different environments. The resulting model was used as a reference to evaluate a mobile mapping system developed later on. Finally, we propose a summary of the contributions and some possible improvements.

Domaines: Traitement du signal et de l'image [eess.SP]; Infrastructures de transport; Génie civil; Vision par ordinateur et reconnaissance de formes [cs.CV]

Emmanuel Moisan, Philippe Foucher, Pierre Charbonnier, Samuel Guillemin, Matthieu Koehl, et al.. Integration of TLS and sonar for the modelling of semi-immersed structures. Belén Riveiro; Roderik Lindenbergh. Laser Scanning - An Emerging Technology in Structural Engineering, CRC Press - Taylor & Francis group, chap. 10, 2019, ISPRS Book Series, 9781138496040. ⟨10.1201/9781351018869-10⟩. ⟨hal-03049062⟩