Shape Measurement of a Sewer Pipe Using a Mobile Robot with Computer Vision
A mobile robot equipped with two lasers and a CCD camera for pipe inspection is proposed. Circular laser streaks that appeared on the inner surface of the pipe reveal the shape of the pipe. The 3D shape of a sewer pipe can be reconstructed considering the movement of the mobile robot along the pipe....
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2013-01-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/55261 |
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doaj-91a8f5b999064cffb44e8204d18cccfb2020-11-25T03:19:58ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-01-011010.5772/5526110.5772_55261Shape Measurement of a Sewer Pipe Using a Mobile Robot with Computer VisionKikuhito Kawasue0Takayuki Komatsu1 Department of Environmental Robotics, University of Miyazaki, Miyazaki, Japan Department of Environmental Robotics, University of Miyazaki, Miyazaki, JapanA mobile robot equipped with two lasers and a CCD camera for pipe inspection is proposed. Circular laser streaks that appeared on the inner surface of the pipe reveal the shape of the pipe. The 3D shape of a sewer pipe can be reconstructed considering the movement of the mobile robot along the pipe. Since the tilt of the mobile robot with respect to the axis of the pipe appears as the deformation between two circular streaks, the shape of a sewer pipe can be measured accurately, regardless of the tilt of the robot.https://doi.org/10.5772/55261 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Kikuhito Kawasue Takayuki Komatsu |
spellingShingle |
Kikuhito Kawasue Takayuki Komatsu Shape Measurement of a Sewer Pipe Using a Mobile Robot with Computer Vision International Journal of Advanced Robotic Systems |
author_facet |
Kikuhito Kawasue Takayuki Komatsu |
author_sort |
Kikuhito Kawasue |
title |
Shape Measurement of a Sewer Pipe Using a Mobile Robot with Computer Vision |
title_short |
Shape Measurement of a Sewer Pipe Using a Mobile Robot with Computer Vision |
title_full |
Shape Measurement of a Sewer Pipe Using a Mobile Robot with Computer Vision |
title_fullStr |
Shape Measurement of a Sewer Pipe Using a Mobile Robot with Computer Vision |
title_full_unstemmed |
Shape Measurement of a Sewer Pipe Using a Mobile Robot with Computer Vision |
title_sort |
shape measurement of a sewer pipe using a mobile robot with computer vision |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2013-01-01 |
description |
A mobile robot equipped with two lasers and a CCD camera for pipe inspection is proposed. Circular laser streaks that appeared on the inner surface of the pipe reveal the shape of the pipe. The 3D shape of a sewer pipe can be reconstructed considering the movement of the mobile robot along the pipe. Since the tilt of the mobile robot with respect to the axis of the pipe appears as the deformation between two circular streaks, the shape of a sewer pipe can be measured accurately, regardless of the tilt of the robot. |
url |
https://doi.org/10.5772/55261 |
work_keys_str_mv |
AT kikuhitokawasue shapemeasurementofasewerpipeusingamobilerobotwithcomputervision AT takayukikomatsu shapemeasurementofasewerpipeusingamobilerobotwithcomputervision |
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