抄録
Pipe inspection is a critical task. Above all, inspection in the inside of a pipe is usually done using a camera. But, a monocular camera cannot detect the depth and roughness of the pipe. By using a combining camera and a LSA(laser spot array), this kind of information can be detected. However, when using a camera with LSA, it is difficult to cover the whole pipe. To enlarge detecting area, we combine some different pose pictures by detecting orientation and position of the camera by taking a photograph. Finally, we measure in-pipe shapes in three dimensions minutely, making it easily to detect broken points in the pipe.
