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Real time pipeline profile extraction using recursive filtering and circle location

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1 Author(s)
Johnson, M. ; Inst. of Inf. & Math. Sci., Massey Univ., Auckland, New Zealand

This paper describes a pipeline profiling tool which uses a laser to build a 3D model of the inside of a pipe. A 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.

Published in:

Image Processing, 2003. ICIP 2003. Proceedings. 2003 International Conference on  (Volume:3 )

Date of Conference:

14-17 Sept. 2003