配管内画像からの配管歪み量推定

抄録

In recent years, the number of pipes that have exceeded their service life has been increasing. Thus, regular inspection of the pipes is required. In particular, a flexible pipe made of vinyl chloride shows its unique degradation, such as oblatening. In this paper, we propose a method of estimating the degree of oblatening of a pipe from its internal image captured by an earthworm robot. Covariance matrix of the image is used to obtain the degree of oblatening.