Research on Point Cloud Structure Detection of Manhole Cover Based on Structured Light Camera

Abstract

This study introduced an innovative approach for detecting structural anomalies in road manhole covers using structured light cameras. Efforts have been dedicated to enhancing data quality by commencing with the acquisition and preprocessing of point cloud data from real-world manhole cover scenes. The RANSAC algorithm is subsequently employed to extract the road plane and determine the height of the point cloud structure. In the presence of non-planar point cloud exhibiting abnormal heights, the DBSCAN algorithm is harnessed for cluster segmentation, aiding in the identification of individual objects. The method culminates with the introduction of a sector fitting detection model, adept at effectively discerning manhole cover features within the point cloud and delivering comprehensive height and structural information. Experimental findings underscore the method’s efficacy in accurately gauging the degree of subsidence in manhole cover structures, with data errors consistently maintained within an acceptable range of 8 percent. Notably, the measurement speed surpasses that of traditional methods, presenting a notably efficient and dependable technical solution for road maintenance.