The University of Southampton
University of Southampton Institutional Repository

Mapping the inside of a water pipe with an underwater robot

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.
Bodenmann, Adrian
cb58d2eb-f208-4bd7-9acc-5c18dc1fc022
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
0054b875-f246-4d9d-b970-623d97fd4d86
Painumgal, Unnikrishnan V.
ac4e8e54-6ff2-442c-a5ed-fd852e48b6a1
Bodenmann, Adrian
cb58d2eb-f208-4bd7-9acc-5c18dc1fc022
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
0054b875-f246-4d9d-b970-623d97fd4d86
Painumgal, Unnikrishnan V.
ac4e8e54-6ff2-442c-a5ed-fd852e48b6a1

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).

Record type: 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.

Text
Bodenmann_2009_Robomec
Restricted to Registered users only
Download (1MB)
Request a copy

More information

Published date: 2009

Identifiers

Local EPrints ID: 414093
URI: https://eprints.soton.ac.uk/id/eprint/414093
PURE UUID: 3c4cc208-5c34-433d-add8-ac6d60afd64a

Catalogue record

Date deposited: 14 Sep 2017 16:31
Last modified: 13 Mar 2019 19:27

Export record

Altmetrics

Contributors

Author: Adrian Bodenmann
Author: Blair Thornton
Author: Tamaki Ura
Author: Unnikrishnan V. Painumgal

University divisions

Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton: eprints@soton.ac.uk

ePrints Soton supports OAI 2.0 with a base URL of https://eprints.soton.ac.uk/cgi/oai2

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.

×