Bodenmann, Adrian, Thornton, Blair, Ura, Tamaki and Painumgal, Unnikrishnan V. (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).
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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- Faculties (pre 2018 reorg) > Faculty of Engineering and the Environment (pre 2018 reorg) > Southampton Marine & Maritime Institute (pre 2018 reorg)
- Faculties (pre 2018 reorg) > Faculty of Engineering and the Environment (pre 2018 reorg) > Civil Maritime & Env. Eng & Sci Unit (pre 2018 reorg)
Current Faculties > Faculty of Engineering and Physical Sciences > School of Engineering > Civil, Maritime and Environmental Engineering > Civil Maritime & Env. Eng & Sci Unit (pre 2018 reorg)
Civil, Maritime and Environmental Engineering > Civil Maritime & Env. Eng & Sci Unit (pre 2018 reorg)
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