Stereo visual odometry for pipe mapping

Peter Hansen, Hatem Said Alismail, Brett Browning, and Peter Rander
IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2011.


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Abstract
Pipe inspection is a critical activity in gas pro- duction facilities and many other industries. In this paper, we contribute a stereo visual odometry system for creating high resolution, sub-millimeter maps of pipe surfaces. Such maps provide both 3D structure and appearance information that can be used for visualization, cross registration with other sensor data, inspection and corrosion detection tasks. We present a range of optical configuration and visual odometry techniques that we use to achieve high accuracy while minimizing specular reflections. We show empirical results from a range of datasets to demonstrate the performance of our approach.

Keywords
visual odometry, stereo, pipe mapping, pipe inspection

Notes
Sponsor: Qatar National Research Fund
Associated Center(s) / Consortia: National Robotics Engineering Center
Associated Project(s): LNG Pipe Vision
Note: Joint work with CMUQ

Text Reference
Peter Hansen, Hatem Said Alismail, Brett Browning, and Peter Rander, "Stereo visual odometry for pipe mapping," IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2011.

BibTeX Reference
@inproceedings{Alismail_2011_6984,
   author = "Peter Hansen and Hatem Said Alismail and Brett Browning and Peter Rander",
   title = "Stereo visual odometry for pipe mapping",
   booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems",
   month = "October",
   year = "2011",
   Notes = "Joint work with CMUQ"
}