Journal
AUTOMATION IN CONSTRUCTION
Volume 138, Issue -, Pages -Publisher
ELSEVIER
DOI: 10.1016/j.autcon.2022.104231
Keywords
ILI; Visual inspection; Pipeline; Depth camera array; Camera calibration; Robotic; Motion estimate; Dense point-cloud model
Funding
- Competitive Academic Agreement Program (CAAP) of Pipeline and Hazardous Materials Safety Adminis-tration (PHMSA) of U.S. Department of Transportation [693JK31850013CAAP]
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This article introduces a new online inspection method that utilizes depth camera array to create a 3D pipeline model. By applying a new camera calibration method and robust camera motion estimation approach, high-precision 3D pipeline surface reconstruction is achieved. The experimental results demonstrate the high accuracy and potential application value of this method.
A novel inline inspection (ILI) approach using depth cameras array (DCA) is introduced to create high-fidelity, dense 3D pipeline models. A new camera calibration method is introduced to register the color and the depth information of the cameras into a unified pipe model. By incorporating the calibration outcomes into a robust camera motion estimation approach, dense and complete 3D pipe surface reconstruction is achieved by using only the inline image data collected by a self-powered ILI rover in a single pass through a straight pipeline. The outcomes of the laboratory experiments demonstrate one-millimeter geometrical accuracy and 0.1-pixel photometric accuracy. In the reconstructed model of a longer pipeline, the proposed method generates the dense 3D surface reconstruction model at the millimeter level accuracy with less than 0.5% distance error. The achieved performance highlights its potential as a useful tool for efficient in-line, non-destructive evaluation of pipeline assets.
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