Active solution of homography for pavement crack recovery with four laser lines.

An active solution method of the homography, which is derived from four laser lines, is proposed to recover the pavement cracks captured by the camera to the real-dimension cracks in the pavement plane. The measurement system, including a camera and four laser projectors, captures the projection laser points on the 2D reference in different positions. The projection laser points are reconstructed in the camera coordinate system. Then, the laser lines are initialized and optimized by the projection laser points. Moreover, the plane-indicated Plücker matrices of the optimized laser lines are employed to model the laser projection points of the laser lines on the pavement. The image-pavement homography is actively determined by the solutions of the perpendicular feet of the projection laser points. The pavement cracks are recovered by the active solution of homography in the experiments. The recovery accuracy of the active solution method is verified by the 2D dimension-known reference. The test case with the measurement distance of 700 mm and the relative angle of 8° achieves the smallest recovery error of 0.78 mm in the experimental investigations, which indicates the application potentials in the vision-based pavement inspection.