Three-dimensional Mapping of Pipeline from Inside Images Using Earthworm Robot Equipped with Camera. Issue 22 (2019)

• Record Type: Journal Article
• Authors: Oyama, Akira; Iida, Hirotaka; Ji, Yonghoon; Umeda, Kazunori; Mano, Yuki; Yasui, Takumi; Nakamura, Taro
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 22(2019)
• Page Start: 87
• Page End: 90
• Publication Date: 2019
• Subjects: Image processing -- 3D reconstruction -- Motion estimation -- Optical flows -- Pipeline; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.11.053
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, we propose a method to generate a 3D map in the narrow pipeline from inside images captured from a camera mounted on earthworm robot. Pipes that have reached the end of their useful life cause leaks and pits in the road; thus, it is necessary to inspect the inside of the pipe. In order to inspect the inside of the pipe, images in the pipeline are converted to development images and motion estimation of the camera is performed using the optical flow. Finally, the development images are connected to generate a 3D map.