Stereo Vision Combined with Laser Profiling for Mapping of Pipeline Internal Defects

Gunatilake, A; Piyathilaka, L; Tran, A; Viswanathan, VK; Thiyagarajan, K; Kodagoda, S

Stereo Vision Combined with Laser Profiling for Mapping of Pipeline Internal Defects

Gunatilake, A

Piyathilaka, L

Tran, A

Viswanathan, VK Thiyagarajan, K

Kodagoda, S

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Publisher:: Institute of Electrical and Electronics Engineers
Publication Type:: Journal Article
Citation:: IEEE Sensors Journal, 2021, 21, (10), pp. 11926-11934
Issue Date:: 2021-01-01

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Field	Value	Language
dc.contributor.author	Gunatilake, A https://orcid.org/0000-0001-7304-3472
dc.contributor.author	Piyathilaka, L https://orcid.org/0000-0003-4676-9387
dc.contributor.author	Tran, A https://orcid.org/0000-0003-3752-533X
dc.contributor.author	Viswanathan, VK
dc.contributor.author	Thiyagarajan, K https://orcid.org/0000-0002-4044-1711
dc.contributor.author	Kodagoda, S https://orcid.org/0000-0001-5175-9138
dc.date.accessioned	2022-05-19T05:49:02Z
dc.date.available	2022-05-19T05:49:02Z
dc.date.issued	2021-01-01
dc.identifier.citation	IEEE Sensors Journal, 2021, 21, (10), pp. 11926-11934
dc.identifier.issn	1530-437X
dc.identifier.issn	1558-1748
dc.identifier.uri	http://hdl.handle.net/10453/157530
dc.description.abstract	Underground potable water pipes are essential infrastructure assets for any country. A significant proportion of those assets are deteriorating due to pipe corrosion which results in premature failure of pipes causing enormous disruptions to the public and loss to the economy. To address such adverse effects, the water utilities in Australia exploit advanced pipelining technologies with a motive of extending the service life of their pipe assets. However, the linings are prone to defects due to improper liner application and unfavorable environmental conditions during the liner curing phase. To monitor the imperfections of the pipe linings, in this article, we propose a mobile robotic sensing system that can scan, detect, locate and measure pipeline internal defects by generating three-dimensional RGB-Depth maps using stereo camera vision combined with infrared laser profiling unit. The system does not require complex calibration procedures and it utilizes orientation correction to provide accurate real-time RGB-D maps. The defects are identified and color mapped for easier visualization. The robotic sensing system was extensively tested in laboratory conditions followed by field deployments in buried water pipes in Sydney, Australia. The experimental results show that the RGB-D maps were generated with millimeter (mm) level accuracy with demonstrated liner defect quantification.
dc.language	English
dc.publisher	Institute of Electrical and Electronics Engineers
dc.relation	Department of Industry, Innovation and Science
dc.relation.ispartof	IEEE Sensors Journal
dc.relation.isbasedon	10.1109/JSEN.2020.3040396
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.subject	0205 Optical Physics, 0906 Electrical and Electronic Engineering, 0913 Mechanical Engineering
dc.subject.classification	Analytical Chemistry
dc.title	Stereo Vision Combined with Laser Profiling for Mapping of Pipeline Internal Defects
dc.type	Journal Article
utslib.citation.volume	21
utslib.for	0205 Optical Physics
utslib.for	0906 Electrical and Electronic Engineering
utslib.for	0913 Mechanical Engineering
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/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	open_access	*
pubs.consider-herdc	false
utslib.copyright.embargo	2023-05-15T00:00:00+1000Z
dc.date.updated	2022-05-19T05:48:57Z
pubs.issue	10
pubs.publication-status	Published
pubs.volume	21
utslib.citation.issue	10

Abstract:

Underground potable water pipes are essential infrastructure assets for any country. A significant proportion of those assets are deteriorating due to pipe corrosion which results in premature failure of pipes causing enormous disruptions to the public and loss to the economy. To address such adverse effects, the water utilities in Australia exploit advanced pipelining technologies with a motive of extending the service life of their pipe assets. However, the linings are prone to defects due to improper liner application and unfavorable environmental conditions during the liner curing phase. To monitor the imperfections of the pipe linings, in this article, we propose a mobile robotic sensing system that can scan, detect, locate and measure pipeline internal defects by generating three-dimensional RGB-Depth maps using stereo camera vision combined with infrared laser profiling unit. The system does not require complex calibration procedures and it utilizes orientation correction to provide accurate real-time RGB-D maps. The defects are identified and color mapped for easier visualization. The robotic sensing system was extensively tested in laboratory conditions followed by field deployments in buried water pipes in Sydney, Australia. The experimental results show that the RGB-D maps were generated with millimeter (mm) level accuracy with demonstrated liner defect quantification.

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http://hdl.handle.net/10453/157530