Real-time 3D profiling with RGB-D mapping in pipelines using stereo camera vision and structured IR laser ring

Gunatilake, A; Piyathilaka, L; Kodagoda, S; Barclay, S; Vitanage, D

Real-time 3D profiling with RGB-D mapping in pipelines using stereo camera vision and structured IR laser ring

Gunatilake, A

Piyathilaka, L

Kodagoda, S

Barclay, S Vitanage, D

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019, 2019, pp. 916 - 921
Issue Date:: 2019-06-01

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Field	Value	Language
dc.contributor.author	Gunatilake, A https://orcid.org/0000-0001-7304-3472	en_US
dc.contributor.author	Piyathilaka, L https://orcid.org/0000-0003-4676-9387	en_US
dc.contributor.author	Kodagoda, S https://orcid.org/0000-0001-5175-9138	en_US
dc.contributor.author	Barclay, S	en_US
dc.contributor.author	Vitanage, D	en_US
dc.date.available	2021-08-12T19:00:52Z
dc.date.issued	2019-06-01	en_US
dc.identifier.citation	Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019, 2019, pp. 916 - 921	en_US
dc.identifier.isbn	9781538694909	en_US
dc.identifier.uri	http://hdl.handle.net/10453/132960
dc.description.abstract	© 2019 IEEE. 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.	en_US
dc.relation.ispartof	Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019	en_US
dc.relation.isbasedon	10.1109/ICIEA.2019.8834089	en_US
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.title	Real-time 3D profiling with RGB-D mapping in pipelines using stereo camera vision and structured IR laser ring	en_US
dc.type	Conference Proceeding
utslib.for	0906 Electrical and Electronic Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US

Abstract:

© 2019 IEEE. 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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http://hdl.handle.net/10453/132960