Pipe Reconstruction from Point Cloud Data

Abstract

Accurate digital twins of industrial assets, such as ships and offshore platforms, rely on the precise reconstruction of complex pipe networks. However, manual modelling of pipes from laser scan data is a time-consuming and labor-intensive process. This paper presents a pipeline for automated pipe reconstruction from incomplete laser scan data. The approach estimates a skeleton curve using Laplacian-based contraction, followed by curve elongation. The skeleton axis is then recentred using a rolling sphere technique combined with 2D circle fitting, and refined with a 3D smoothing step. This enables the determination of pipe properties, including radius, length and orientation, and facilitates the creation of detailed 3D models of complex pipe networks. By automating pipe reconstruction, this approach supports the development of digital twins, allowing for rapid and accurate modeling while reducing costs.

Figures (11)

• Figure 1: Process of pipe point cloud generation (blue) and pipe reconstruction (green)
• Figure 2: Pipe reconstruction process: Spline points and tangents (a) serve as a foundation to build a pipe in UE (b). Using Colosseum, a point cloud is generated (c). A skeleton (d) without junctions (black) is generated and elongated (red). Rolling Sphere Algorithm shifted skeleton points (e, red) are enhanced via 3D smoothing (f). (g) illustrates the intersection over union (IoU) of the reconstructed pipe volume between ground truth (blue) and reconstructed pipe hull (orange).
• Figure 3: (a) shrunken skeleton, (b) non continuous skeleton with junctions, (c) skeleton out of middle axis
• Figure 4: example results for (a) IoU, (b) $\overline{r}$ ratio, (c) length ratio of reconstructed straight pipes, bends and more complex pipes
• Figure 5: pipe complex b; blue volume as ground truth, orange volume as reconstructed hull; $r_{gt}$=0.18 m, $l_{gt}$=7.85 m