文章基本信息

标题：Three-dimensional Mapping of Pipeline from Inside Images Using Earthworm Robot Equipped with Camera
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作者：Akira Oyama ; Hirotaka Iida ; Yonghoon Ji 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：22
页码：1-4
DOI：10.1016/j.ifacol.2019.11.053
语种：English
出版社：Elsevier
摘要：In this paper,we propose a method to generate a 3D map in the narrow pipeline from insideimages captured from a camera mounted on earthworm robot. Pipes that have reached the end of theiruseful life cause leaks and pits in the road; thus, it is necessary to inspect the inside of the pipe.In order toinspect the inside of the pipe, images in the pipeline are converted to development images and motionestimation of the camera is performed using the optical flow. Finally，the development images areconnected to generate a 3D map.
关键词：Image processing;3D reconstruction;Motion estimation;Optical flows;Pipeline