The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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"
}

The Robotics Institute

Menu