A straight pipe observation from the inside by laser spot array and a TV camera

Takashi Tsubouchi; Yoshifumi Kawaguchi; Shigekazu Takaki; Shin’ichi Yuta

doi:10.1109/IROS.2000.894586

A straight pipe observation from the inside by laser spot array and a TV camera

Takashi Tsubouchi, Yoshifumi Kawaguchi, Shigekazu Takaki, Shin’ichi Yuta

Department of Electrical Engineering

Research output: Contribution to journal › Article › peer-review

16 Citations (Scopus)

Abstract

This research work contributes to an active vision system for an gas pipe inspection robot moving inside of the pipe. The robot must be able to know what shape of the pipes where the robot moving. The pipe shapes include straight, L or T. Also, when it is moving in the straight section, the robot must detect relative angle with respect to its principal axis. The present authors propose to use laser spots array and TV camera for the vision sensor, which can find the three dimensional position of each spot on the surface of the pipe by means of triagulation. Shape of the pipe inside can be reconstructed by the information of the camera. A method is also presented to distinguish the pipe shape whether it is straight or not.

Original language	English
Pages (from-to)	82-87
Number of pages	6
Journal	IEEE International Conference on Intelligent Robots and Systems
Volume	1
DOIs	https://doi.org/10.1109/IROS.2000.894586
Publication status	Published - 2000 Jan 1

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2000.894586

Cite this

@article{e1fdb84a7d8d448387e14fa2f6a61e10,

title = "A straight pipe observation from the inside by laser spot array and a TV camera",

abstract = "This research work contributes to an active vision system for an gas pipe inspection robot moving inside of the pipe. The robot must be able to know what shape of the pipes where the robot moving. The pipe shapes include straight, L or T. Also, when it is moving in the straight section, the robot must detect relative angle with respect to its principal axis. The present authors propose to use laser spots array and TV camera for the vision sensor, which can find the three dimensional position of each spot on the surface of the pipe by means of triagulation. Shape of the pipe inside can be reconstructed by the information of the camera. A method is also presented to distinguish the pipe shape whether it is straight or not.",

author = "Takashi Tsubouchi and Yoshifumi Kawaguchi and Shigekazu Takaki and Shin{\textquoteright}ichi Yuta",

year = "2000",

month = jan,

day = "1",

doi = "10.1109/IROS.2000.894586",

language = "English",

volume = "1",

pages = "82--87",

journal = "IEEE International Conference on Intelligent Robots and Systems",

issn = "2153-0858",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - A straight pipe observation from the inside by laser spot array and a TV camera

AU - Tsubouchi, Takashi

AU - Kawaguchi, Yoshifumi

AU - Takaki, Shigekazu

AU - Yuta, Shin’ichi

PY - 2000/1/1

Y1 - 2000/1/1

N2 - This research work contributes to an active vision system for an gas pipe inspection robot moving inside of the pipe. The robot must be able to know what shape of the pipes where the robot moving. The pipe shapes include straight, L or T. Also, when it is moving in the straight section, the robot must detect relative angle with respect to its principal axis. The present authors propose to use laser spots array and TV camera for the vision sensor, which can find the three dimensional position of each spot on the surface of the pipe by means of triagulation. Shape of the pipe inside can be reconstructed by the information of the camera. A method is also presented to distinguish the pipe shape whether it is straight or not.

AB - This research work contributes to an active vision system for an gas pipe inspection robot moving inside of the pipe. The robot must be able to know what shape of the pipes where the robot moving. The pipe shapes include straight, L or T. Also, when it is moving in the straight section, the robot must detect relative angle with respect to its principal axis. The present authors propose to use laser spots array and TV camera for the vision sensor, which can find the three dimensional position of each spot on the surface of the pipe by means of triagulation. Shape of the pipe inside can be reconstructed by the information of the camera. A method is also presented to distinguish the pipe shape whether it is straight or not.

UR - http://www.scopus.com/inward/record.url?scp=0034446376&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0034446376&partnerID=8YFLogxK

U2 - 10.1109/IROS.2000.894586

DO - 10.1109/IROS.2000.894586

M3 - Article

AN - SCOPUS:0034446376

SN - 2153-0858

VL - 1

SP - 82

EP - 87

JO - IEEE International Conference on Intelligent Robots and Systems

JF - IEEE International Conference on Intelligent Robots and Systems

ER -

A straight pipe observation from the inside by laser spot array and a TV camera

Abstract

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this