Automated As-Built Model Generation of Subway Tunnels from Mobile LiDAR Data

This study proposes fully-automated methods for as-built model generation of subway tunnels employing mobile Light Detection and Ranging (LiDAR) data. The employed dataset is acquired by a Velodyne HDL 32E and covers 155 m of a subway tunnel containing six million points. First, the tunnel’s main axis and cross sections are extracted. Next, a preliminary model is created by fitting an ellipse to each extracted cross section. The model is refined by employing residual analysis and Baarda’s data snooping method to eliminate outliers. The final model is then generated by applying least squares adjustment to outlier-free data. The obtained results indicate that the tunnel’s main axis and 1551 cross sections at 0.1 m intervals are successfully extracted. Cross sections have an average semi-major axis of 7.8508 m with a standard deviation of 0.2 mm and semi-minor axis of 7.7509 m with a standard deviation of 0.1 mm. The average normal distance of points from the constructed model (average absolute error) is also 0.012 m. The developed algorithm is applicable to tunnels with any horizontal orientation and degree of curvature since it makes no assumptions, nor does it use any a priori knowledge regarding the tunnel’s curvature and horizontal orientation.