Sewerage and drainage manhole measuring using terrestrial laser scanning techniques

A common method for measuring sewer and drainage manholes with tape measure lacks precision in cases of sediment accumulation or deep manholes, impacting data accuracy. This paper proposed a method for measuring sewer and drainage manholes using terrestrial laser scanning. This method first utilizes a plane fitting equation and the RANSAC method to determine the ground and segmentation planes, enabling automatic trimming of the point cloud of the manhole. Subsequently, the pipe's inlet and outlet extraction is done using the point cloud combining Region Growing method. Finally, according to the feature of cylinder pipe and elliptical cylinder pipe, the inlet and outlet are reconstructed using the extracted point cloud. Experimental results show that the radius of pipe's inlet or outlet can be measured by the proposed method with an accuracy of 5.20 mm, the height difference of the manhole can be measured with an accuracy of 7.05 mm, meeting the requirement of a permissible deviation of 10 mm for measuring the lowest point of manhole specified in the " Code for construction and acceptance of water and sewerage pipeline works " (GB50268-2008).