Mapping the inside of a water pipe with an underwater robot
Mapping the inside of a water pipe with an underwater robot
In this project a program that is capable of generating one image of an entire water pipe's inside wall was developed. An Autonomous Underwater Vehicle (AUV) equipped with a fish-eye camera will be deployed to dive through the pipe and take pictures of its inside wall. A computer program was implemented that maps such pictures to the 3 dimensional model of the water pipe and based on that, generates the image that one would see if the photographed section of pipe was cut along the side and rolled out. A second algorithm uses the rolled out versions of a series of consecutively taken photos to generate a mosaic showing the entire pipe in a single picture.
Thornton, Blair
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Ura, Tamaki
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Painumgal, Unnikrishnan V.
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Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50
2009
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
0054b875-f246-4d9d-b970-623d97fd4d86
Painumgal, Unnikrishnan V.
ac4e8e54-6ff2-442c-a5ed-fd852e48b6a1
Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50
Thornton, Blair, Ura, Tamaki, Painumgal, Unnikrishnan V. and Bodenmann, Adrian
(2009)
Mapping the inside of a water pipe with an underwater robot.
In Proc. 2009 JSME Conf. on Robotics and Mechatronics.
(doi:10.1299/jsmermd.2009._1P1-B02_1).
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Conference or Workshop Item
(Paper)
Abstract
In this project a program that is capable of generating one image of an entire water pipe's inside wall was developed. An Autonomous Underwater Vehicle (AUV) equipped with a fish-eye camera will be deployed to dive through the pipe and take pictures of its inside wall. A computer program was implemented that maps such pictures to the 3 dimensional model of the water pipe and based on that, generates the image that one would see if the photographed section of pipe was cut along the side and rolled out. A second algorithm uses the rolled out versions of a series of consecutively taken photos to generate a mosaic showing the entire pipe in a single picture.
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Published date: 2009
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Local EPrints ID: 414093
URI: http://eprints.soton.ac.uk/id/eprint/414093
PURE UUID: 3c4cc208-5c34-433d-add8-ac6d60afd64a
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Date deposited: 14 Sep 2017 16:31
Last modified: 21 Nov 2021 08:35
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Author:
Tamaki Ura
Author:
Unnikrishnan V. Painumgal
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