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Abstract-A lot of plumbings such as gas pipes and water pipes exist in public utilities, factories and so on. The use of an omni-directional camera which can take images of 360 deg in surroundings at a time is effective for pipe inspection. However, shape measurement is difficult only with the omnidirectional camera. Therefore, in this paper, we propose a reconstruction method of a piping shape by using a rangefinder constructed with an omni-directional camera and an omnidirectional laser. The rangefinder is mounted on an earthworm robot. Our method calculates 3-D coordinates by the light section method. By integrating the 3-D coordinates with the information of camera motion estimated by the structure from motion technique, the shape of the pipe is reconstructed. The validity of the proposed method is shown through experiments.

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A lot of plumbings such as gas pipes and water pipes exist in public utilities, factories, power plants and so on. The use of an omni-directional camera that can take images of 360 in surroundings at a time is effective for the pipe inspection. However, shape measurement is difficult only with the omni-directional camera. Therefore, in this paper, we propose a reconstruction method of piping shape by using an omni-directional camera and an omni-directional laser with a light section method and a structure from motion. Our method calculates 3-D coordinates by the light section method. By integrating the 3-D coordinates with the information of camera motion estimated by the structure from motion technique, the shape of the pipe is reconstructed. The validity of the proposed method is shown through experiments

No abstract