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This paper describes a pipeline profiling robot which uses a laser to build a 3D model of the inside of a pipe. The robot travels down the pipe finding the profile in real time using a laser and a camera. The laser is used to draw a line around the edge of the pipe; this line is then extracted from acquired images using recursive Gaussian filtering. Three methods were examined for fitting a circle to the profile, two variations of the Hough transform and a random sampling method. The random sampling method was found to be the most flexible and efficient. The extracted profile points were used to construct a 3D model of a pipe section. This model can be viewed using a model viewer written using OpenGL. Results are presented showing the system to be effective and robust.
Instrumentation and Measurement Technology Conference, 2003. IMTC '03. Proceedings of the 20th IEEE (Volume:2 )
Date of Conference: 20-22 May 2003