A full 3D reconstruction of rail tracks using a camera array

This research addresses limitations found in existing 3D track reconstruction studies, which often focus solely on specific rail sections or encounter deployment challenges with rolling stock. To address this challenge, we propose an innovative solution: a rolling-stock embedded arch camera array scanning system. The system includes a semi-circumferential focusing vision array, an arch camera holder, and a Computer Numerical Control machine to simulate track traverse. We propose an optimal configuration that balances accuracy, full rail coverage, and modelling efficiency. Sensitivity analysis demonstrates a reconstruction accuracy within 0.4 mm when compared to Lidar-generated ground truth models. Two real-world experiments validate the system's effectiveness following essential data preprocessing. This integrated technique, when combined with rail rolling stocks and robotic maintenance platforms, facilitates swift, unmanned, and highly accurate track reconstruction and surveying.