Shape Measurement of a Sewer Pipe Using a Mobile Robot with Computer Vision

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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Bibliographic Details
Main Authors: Kikuhito Kawasue, Takayuki Komatsu
Format: Article
Language:English
Published: SAGE Publishing 2013-01-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/55261
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spelling 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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