Visual Pipe Mapping with a Fisheye Camera

Peter Hansen, Hatem Said Alismail, Peter Rander, and Brett Browning
tech. report CMU-RI-TR-13-02, Robotics Institute, Carnegie Mellon University, February, 2013


Download
  • Adobe portable document format (pdf) (4MB)
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
We present a vision-based mapping and localization system for operations in pipes such as those found in Liquified Natural Gas (LNG) production. A forward facing, fisheye camera mounted on a prototype robot collects imagery as it is tele-operated through a pipe network. The images are processed offline to estimate camera pose and sparse scene structure where the results can be used to generate 3D renderings of the pipe surface. The method extends state of the art visual odometry and mapping for fisheye systems to incorporate geometric constraints based on prior knowledge of the pipe components into a Sparse Bundle Adjustment framework. These constraints significantly reduce inaccuracies resulting from the limited spatial resolution of the fisheye imagery, limited image texture, and visual aliasing. Preliminary results are presented for a dataset collected in fiberglass pipe network which demonstrate the validity of the approach.

Keywords
Robotics, computer vision, pipe inspection, LNG, 3D mapping, visual mapping, visual odometry, SLAM, sparse bundle adjustment, structure from motion, fisheye

Notes
Sponsor: Qatar National Research Fund
Associated Center(s) / Consortia: National Robotics Engineering Center
Associated Project(s): LNG Pipe Vision
Note: Cross listed as CMU-CS-QTR-116

Text Reference
Peter Hansen, Hatem Said Alismail, Peter Rander, and Brett Browning, "Visual Pipe Mapping with a Fisheye Camera," tech. report CMU-RI-TR-13-02, Robotics Institute, Carnegie Mellon University, February, 2013

BibTeX Reference
@techreport{Alismail_2013_7395,
   author = "Peter Hansen and Hatem Said Alismail and Peter Rander and Brett Browning",
   title = "Visual Pipe Mapping with a Fisheye Camera",
   booktitle = "",
   institution = "Robotics Institute",
   month = "February",
   year = "2013",
   number= "CMU-RI-TR-13-02",
   address= "Pittsburgh, PA",
   Notes = "Cross listed as CMU-CS-QTR-116"
}