Recognition of inside pipeline geometry by using monocular camera and PSD sensors

Choi, Yun Seok; Kim, Ho Moon; Suh, Jung Seok; Mun, Hyeong Min; Yang, Seung Ung; Park, Chan Min; Choi, Hyouk Ryeol

doi:10.1109/aim.2014.6878150

Cited by 5 publications

(1 citation statement)

References 23 publications

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“…Early versions used a CCD camera to detect the patterns of shadows for identifying landmarks within the pipe [30]. Using the PSDs they are able to detect corner direction and distinguish between a T-junction and mitre [31]. The camera and laser system is also able to determine features ahead in the pipe, including corner direction [32].…”

Section: In-pipe Sensingmentioning

confidence: 99%

Elbow Detection in Pipes for Autonomous Navigation of Inspection Robots

Brown

Carrasco

Watson

et al. 2018

J Intell Robot Syst

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Nuclear decommissioning is a global challenge with high costs associated with it due to the hazardous environments created by radioactive materials. Most nuclear decommissioning sites contain significant amounts of pipework, the majority of which is uncharacterised with regards radioactive contamination. If there is any uncertainty as to the contamination status of a pipe, it must be treated as contaminated waste, which can lead to very high disposal costs. To overcome this challenge, an in-pipe autonomous robot for characterisation is being developed. One of the most significant mechatronic challenges with the development of such a robot is the detection of elbows in the unknown pipe networks to allow the robotic system to autonomously navigate around them. This paper presents a novel method of predicting the direction and radius of the corner using whisker-like sensors. Experiments have shown that the proposed system has a mean error of 4.69 • in the direction estimation.

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Section: In-pipe Sensingmentioning

confidence: 99%