A straight pipe observation from the inside by laser spot array and a TV camera

Tsubouchi, Takashi; Takaki, Sho; Kawaguchi, Yoshifumi; Sasaki, Yuta

doi:10.1109/iros.2000.894586

Cited by 16 publications

(12 citation statements)

References 6 publications

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“…However, this cannot obtain 3D information of the pipe. Another is more advanced way which detects specific profiles of the pipe such as depressions and patterns [7] [8] [9]. This method can obtain 3D shape of the pipe by measuring distance between the robot and inner surface of the pipe.…”

Section: Introductionmentioning

confidence: 99%

Recognition of pathway directions based on nonlinear least squares method

Kakogawa

Yamagami²,

Tian

et al. 2015

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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In-pipe inspection is critical for using a pipeline safely. In recent times, the efficiency of inspection via the use of in-pipe robots has been emphasized in the literature. Inspection efficiency can be significantly improved if the in-pipe robot can move autonomously in the pipe. To do this, recognizing the pathway in front of the robot is a key factor. One method to recognize the pathway using the combination of a laser spot array (LSA) and a camera has been proposed long time ago. However, in this paper, the pathway direction is calculated with different way. The most different point is that the central vector of the pipe (the pathway direction) is estimated by Nonlinear least squares method with a constraint on the pipe radius. At last, their performances between our method and the existing method is compared in terms of accuracy and computation time.978-1-4673-9675-2/15/$31.00 © 2015 IEEE

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Section: Introductionmentioning

confidence: 99%

Recognition of pathway directions based on nonlinear least squares method

Kakogawa

Yamagami²,

Tian

et al. 2015

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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“…These systems usually work by projecting either a thin ring of light or successive light spots using a rotary system onto the inner walls of pipes. Tsubouchi et al suggested a different approach applying a laser spot array instead of a light ring [4]. When the platform travels in the pipe, the sequence of profile measurements allows the creation of a surface map of the inner wall of pipe.…”

Section: Introductionmentioning

confidence: 99%

Corrosion detection of internal pipeline using NDT optical inspection system

Safizadeh

Azizzadeh

2012

NDT & E International

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“…In [10], spot pattern was generated by using a fiber grating and a laser. This type of sensor using a fiber grating has been used for some applications such as object recognition [12] and navigation of a mobile robot [13] Fig. 1.…”

Section: Introductionmentioning

confidence: 99%

A 200Hz small range image sensor using a multi-spot laser projector

Tateishi

Ishiyama

Umeda

2008

2008 IEEE International Conference on Robotics and Automation

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Abstract-In this paper, a high-speed range image sensor using a multi-spot laser projector is constructed. Several highspeed range image sensors have been developed recently. Their sampling rate is around the video rate (30Hz or so) and a faster sensor is required. The proposed sensor has achieved 200Hz measurement. It consists of a commercially available laser projector and a high-speed CCD camera. The number of pixels is 361 and the measurement range is 800-2000mm. Although the acquired range image is sparse, the proposed sensor is thought to be adequate for several applications such as robot vision because of its high-speed imaging and compactness. Some characteristics such as measurement errors are discussed, and the effectiveness of the proposed sensor is verified by experiments.

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A straight pipe observation from the inside by laser spot array and a TV camera

Cited by 16 publications

References 6 publications

Recognition of pathway directions based on nonlinear least squares method

Recognition of pathway directions based on nonlinear least squares method

Corrosion detection of internal pipeline using NDT optical inspection system

A 200Hz small range image sensor using a multi-spot laser projector

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