Precise Positioning Method of Moving Laser Point Cloud in Shield Tunnel Based on Bolt Hole Extraction

Mobile laser scanning technology used for deformation detection of shield tunnel is usually two-dimensional, which is expanded into three-dimensional (3D) through mileage, resulting in low positioning accuracy. This study proposes a 3D laser point cloud positioning method that is divided into rings in the mileage direction and blocks in the ring direction to improve the positional accuracy for shield tunnels. First, the cylindrical tunnel wall is expanded into a plane and the bolt holes are extracted using the self-adaptive parameter adjustment cloth simulation filter (CSF) algorithm combined with a density-based spatial clustering of applications with noise (DBSCAN) algorithm. Second, the mean-shift algorithm is used to obtain the center point of the bolt hole, and a model is designed to recognize the center point of different splicing blocks. Finally, the center point is combined with the standard straight-line equation to fit the straight-line positioning seam, achieving an accurate ring and block segmentation of a shield tunnel as a 3D laser point cloud. The proposed method is compared with existing methods to verify its feasibility and high accuracy using the seams located by the measured tunnel point cloud data and in the measured point cloud. The average differences between the circumferential seams positioned using the proposed method and those in the point cloud at the left waist, vault, and right waist were 3, 4, and 5 mm, respectively, and the average difference between the longitudinal seams was 3.4 mm The proposed research method provides important technical and theoretical support for tunnel safety monitoring and detection.