Visual mapping of internal pipe walls using sparse features for application on board autonomous underwater vehicles
Visual mapping of internal pipe walls using sparse features for application on board autonomous underwater vehicles
In this project an algorithm to generate a single 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. The algorithm was implemented that maps such pictures to the three 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. The algorithm then uses the rolled out versions of a series of consecutively taken photos to generate a mosaic showing the entire pipe in a single picture based on the recognition of sparse, structural features. The performance of the algorithm was verified in land based experiments and the robustness of the system to measurement inaccuracy was assessed. Finally two mosaicked images were created for different paths taken through the pipe, to demonstrate that the system is capable of generating the same image, regardless of the path taken by the AUV.
Bodenmann, Adrian
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Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
0054b875-f246-4d9d-b970-623d97fd4d86
Painumgal, Unnikrishnan V.
ac4e8e54-6ff2-442c-a5ed-fd852e48b6a1
2009
Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50
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)
Visual mapping of internal pipe walls using sparse features for application on board autonomous underwater vehicles.
Oceans '09. Oceans 2009-Europe, 2009, Bremen, Germany.
11 - 14 May 2009.
(doi:10.1109/OCEANSE.2009.5278231).
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Conference or Workshop Item
(Paper)
Abstract
In this project an algorithm to generate a single 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. The algorithm was implemented that maps such pictures to the three 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. The algorithm then uses the rolled out versions of a series of consecutively taken photos to generate a mosaic showing the entire pipe in a single picture based on the recognition of sparse, structural features. The performance of the algorithm was verified in land based experiments and the robustness of the system to measurement inaccuracy was assessed. Finally two mosaicked images were created for different paths taken through the pipe, to demonstrate that the system is capable of generating the same image, regardless of the path taken by the AUV.
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Published date: 2009
Venue - Dates:
Oceans '09. Oceans 2009-Europe, 2009, Bremen, Germany, 2009-05-11 - 2009-05-14
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Local EPrints ID: 414094
URI: http://eprints.soton.ac.uk/id/eprint/414094
PURE UUID: 365ca3da-1228-4fc3-8c1b-5a35e25f29d1
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Date deposited: 14 Sep 2017 16:31
Last modified: 16 Mar 2024 04:32
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Author:
Tamaki Ura
Author:
Unnikrishnan V. Painumgal
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