NDLI: An in-pipe internal defects inspection system based on the active stereo omnidirectional vision sensor

Content Provider	IEEE Xplore Digital Library
Author	Wu Ting Lu Shaohui Tang Yiping
Copyright Year	2015
Description	Author affiliation: Zhejiang Univ. of Technol., Hangzhou, China (Wu Ting; Lu Shaohui; Tang Yiping)
Abstract	To ensure the safety and serviceability of underground pipeline, it is essential to inspect and assess its structural and functional condition. Underground pipe inner-surface defect inspection is constrained by space accessibility. Thus, in this work we propose a comprehensive in-pipe inspection method based on active stereo omnidirectional vision. In our system, a crawling robot equipped with an active stereo omnidirectional vision sensor travels along the pipeline, taking panoramic images of the internal surface and laser streaks projected from an omnidirectional laser in real time. Afterwards, the internal surface panoramic images are disposed as follows: unwrapping, pre-processing and geometrical features extraction of the defect region, ultimately we classify the defects' category and degree. On the other hand, image sequences with laser streaks are used to extract 3D point cloud data of the inner-surface and calculate the deformation rate of the pipe, this part is not included in this paper. Experimental results show that our system is capable to achieve a qualitative and quantitative analysis of the in-pipe defects such as crack and corrosion, and provide a new approach for inspection of the in-pipe internal surface defects.
Starting Page	2637
Ending Page	2641
File Size	207865
Page Count	5
File Format	PDF
e-ISBN	9781467376822
DOI	10.1109/FSKD.2015.7382373
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization visual 3D measure Three-dimensional displays Corrosion omnidirectional laser vision Pipelines in-pipe defects inspection Inspection Robot sensing systems Vehicles active stereo omnidirectional vision
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Omnidirectional 3D reconstruction using stereo multi-perspective panoramas

3D image-based dynamic visual servoing with uncalibrated stereo cameras

Ground or obstacles? Detecting clear paths in vehicle navigation

A 3D reconstruction algorithm of multiple objects

Efficient visual odometry and mapping for Unmanned Aerial Vehicle using ARM-based stereo vision pre-processing system

Stereo vision based 3D modeling system for mobile robot

Mobile robot 3D map building based on laser ranging and stereovision

Stereo matching and 3d reconstruction via an omnidirectional stereo sensor 1 7.

Appearance-based SLAM relying on a hybrid laser/omnidirectional sensor

An in-pipe internal defects inspection system based on the active stereo omnidirectional vision sensor

Similar Documents

Omnidirectional 3D reconstruction using stereo multi-perspective panoramas

3D image-based dynamic visual servoing with uncalibrated stereo cameras

Ground or obstacles? Detecting clear paths in vehicle navigation

A 3D reconstruction algorithm of multiple objects

Efficient visual odometry and mapping for Unmanned Aerial Vehicle using ARM-based stereo vision pre-processing system

Stereo vision based 3D modeling system for mobile robot

Mobile robot 3D map building based on laser ranging and stereovision

Stereo matching and 3d reconstruction via an omnidirectional stereo sensor 1 7.

Appearance-based SLAM relying on a hybrid laser/omnidirectional sensor

An in-pipe internal defects inspection system based on the active stereo omnidirectional vision sensor