The use of laser range finder on a robotic platform for pipe inspection

Liu, Zheng; Krys, Dennis

doi:10.1016/j.ymssp.2012.03.006

Cited by 39 publications

(15 citation statements)

References 24 publications

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“…Some pipes' dimensions can be up to 3 m, similar to a small ventilation tunnel. These scenarios involve small tele-operated robots [70,71] able to make visual inspections along with mapping of pipes and deformation analysis [72]. Some of these systems can even perform cleaning [73] and maintenance [74][75][76] operations.…”

Section: Other Related Robotic Systemsmentioning

confidence: 99%

Past, present and future of robotic tunnel inspection

Montero

Victores

Martínez

et al. 2015

Automation in Construction

165

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Section: Other Related Robotic Systemsmentioning

confidence: 99%

Past, present and future of robotic tunnel inspection

Montero

Victores

Martínez

et al. 2015

Automation in Construction

165

View full text Add to dashboard Cite

“…Some pipes' dimensions can be up to 3 m, similar to a small ventilation tunnel. These scenarios involve small teleoperated robots [70][71] able to make visual inspections along with mapping of pipes and deformation analysis [72]. Some of these systems can even perform cleaning [73] and maintenance [74] [82].…”

Section: Other Related Systemsmentioning

confidence: 99%

Towards Fully Automated Tunnel Inspection: A Survey and Future Trends

Balaguer

Montero

Victores

et al. 2014

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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-Tunnels environments are characterized by dust, humidity, and absence of natural light. Artificial and natural impacts, change in load criteria, or the simple effect of ageing, make tunnels require inspection and maintenance. These operations are commonly performed by human workers taking time and expertise without guarantee quality control. Robotic tunnel inspection and maintenance (RTIM) introduces high productivity, quality and repetitiveness. This paper describes the current trends in the subject, and introduces new technologies such as scenario modeling, robotic platforms, image and ultrasound sensors, control algorithms and decision making strategies. Additionally, the result of several recent and ongoing projects will be presented.

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“…In recent years, 3D laser profiling with monocular vision and structured laser light has emerged as a promising technology, which can generate a 3D map of the internal surface of a pipe [10], [11], [12], [13]. The main advantage over CCTV inspection is 3D maps can easily detect and quantify structural defects on the internal pipe surface such as changes in ovality, material loss due to deterioration and or any sludge growths.…”

Section: Introductionmentioning

confidence: 99%

Real-Time 3D Profiling with RGB-D Mapping in Pipelines Using Stereo Camera Vision and Structured IR Laser Ring

Gunatilake

Piyathilaka

Kodagoda

et al. 2019

2019 14th IEEE Conference on Industrial Electronics and Applications (ICIEA)

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This paper is focused on delivering a solution that can scan and reconstruct the 3D profile of a pipeline in realtime using a crawler robot. A structured infrared (IR) laser ring projector and a stereo camera system are used to generate the 3D profile of the pipe as the robot moves inside the pipe. The proposed stereo system does not require field calibrations and it is not affected by the lateral movement of the robot, hence capable of producing an accurate 3D map. The wavelength of the IR light source is chosen to be non overlapping with the visible spectrum of the color camera. Hence RGB color values of the depth can be obtained by projecting the 3D map into the color image frame. The proposed system is implemented in Robotic Operating System (ROS) producing real-time RGB-D maps with defects. The defect map exploit differences in ovality enabling real-time identification of structural defects such as surface corrosion in pipe infrastructure. The lab experiments showed the proposed laser profiling system can detect ovality changes of the pipe with millimeter level of accuracy and resolution.

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The use of laser range finder on a robotic platform for pipe inspection

Cited by 39 publications

References 24 publications

Past, present and future of robotic tunnel inspection

Past, present and future of robotic tunnel inspection

Towards Fully Automated Tunnel Inspection: A Survey and Future Trends

Real-Time 3D Profiling with RGB-D Mapping in Pipelines Using Stereo Camera Vision and Structured IR Laser Ring

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