A METHOD BASED ON PROJECTIVE TRANSFORMATION TO PRODUCE ACCURATE PANORAMA PHOTO FOR CABLES INSPECTION OF CABLE-STAYED BRIDGES

Abstract

 In recent years, the development of automatic inspection robot for the cables of cable-stayed bridges has become active. Therefore, the authors have developed an automatic inspection robot named CHiQWA for the cables of cable-stayed bridges. This robot has four features. The first is able to reach the top of the cable using the UAV. The second is able to perform descent of the inspection robot by automatic control. The third is able to capture takes continuously scanned images of cable surface with USB cameras, miniPC, and lighting devices. The fourth is able to generates a panoramic image of cable surface. Actually, the existing robot is not able to create an accurate panoramic image due to circumference of a cable. Therefore, in this study, the author developed the image corecting method for expand circumference by projective transformation. Furthermore, by applying this method, we found the possibility of circumferential expansion by projective transformation.