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isprs archives XLI B3 527 2016

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Figure 1: Overview of the total mechanism for our developedbridge inspection system.The arcs with double arrows meanrotation operation and the lines with double arrows meanelongation and shortening of each joint of the multi-linkage arm.
Figure 2:A back-projection illustration with the collinearprinciple of the camera optical center C, a 2D image point x andits corresponding 3D point X: the 3D structure and the profilemap (Bottom-Right) of the bottom surface of a bridge whosestructure named “small box girder”.
Figure 4: An example of dim structure line in a 2D image (Left),but obvious enough in the corresponding 3D cloud points (Right)collected by the 3D camera.
Figure 7:The fusion strategy of dealing with 3D data andthe image indexes. The green lines mean that the CCD camera2D image data captured at the different frequencies
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