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Recognition of pipeline geometry by using monocular camera and PSD sensors
This study proposes a method of sensing basic pipeline elements, such as a straight pipeline, elbow, T-branch, and miter, by using a monocular camera and position sensitive device sensors. The method is composed of the three following parts: The pipeline elements are first determined; the T-branch a...
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Published in: | Intelligent service robotics 2017-07, Vol.10 (3), p.213-227 |
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container_end_page | 227 |
container_issue | 3 |
container_start_page | 213 |
container_title | Intelligent service robotics |
container_volume | 10 |
creator | Choi, Yun Seok Kim, Ho Moon Mun, Hyeong Min Lee, Yoon Geon Choi, Hyouk Ryeol |
description | This study proposes a method of sensing basic pipeline elements, such as a straight pipeline, elbow, T-branch, and miter, by using a monocular camera and position sensitive device sensors. The method is composed of the three following parts: The pipeline elements are first determined; the T-branch and miter are then classified among them; and the opening directions of the T-branch and the elbow are recognized. We develop a sensor hardware and signal-processing algorithm for providing information on the pipeline elements required to navigate inside the pipelines. This algorithm is easily implementable without any heavy computational burden. The proposed method is tested in an in-pipe robot, called MRINSPECT VI. Subsequently, its effectiveness is validated. |
doi_str_mv | 10.1007/s11370-017-0221-1 |
format | article |
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subjects | Algorithms Artificial Intelligence Cameras Control Dynamical Systems Elbow Engineering Geometry Global positioning systems GPS Lasers Mechatronics Original Research Paper Position sensing Robotics Robotics and Automation Robots Sensors User Interfaces and Human Computer Interaction Vibration |
title | Recognition of pipeline geometry by using monocular camera and PSD sensors |
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