配管内画像列からのカメラの運動推定と配管3次元点群の構築

抄録

In this paper, we estimate a motion of a camera and construct a 3D point cloud of a pipe from image sequences in the pipe acquired from the camera at a tip of the robot for an inspection of the inside of the pipe. The 3D point cloud is considered as a cylinder and its radius is calculated. A scale is determined by comparing an actual pipe radius with the point cloud radius. The scale is determined by comparing the actual pipe radius and the point cloud radius. The camera translation is calculated from the scale, and the 3D point clouds of multiple pipes are connected using the translation.