The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2009
Session ID : 1P1-B02
Conference information
1P1-B02 Mapping the Inside of a Water Pipe with an Underwater Robot
Adrian BODENMANNBlair THORNTONTamaki URAUnnikrishnan V. PAINUMGAL
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CONFERENCE PROCEEDINGS FREE ACCESS

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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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© 2009 The Japan Society of Mechanical Engineers
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