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

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

Research output: Contribution to journalArticlepeer-review

16 Citations (Scopus)


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 languageEnglish
Pages (from-to)82-87
Number of pages6
JournalIEEE International Conference on Intelligent Robots and Systems
Publication statusPublished - 2000 Jan 1

ASJC Scopus subject areas

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


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