Evaluation of whole circumference image acquisition system for a long cylindrical structures inspection robot

In an inspection of aging infrastructures has become a problem. Vertical long cylindrical structures is one of inspection targets. Therefore, we have been developing an inspection robot system for these structures. In order to inspect a surface condition of these structures, whole circumference images need to be acquired. In this peper, we implemented a whole circumference image acquisition system for an inspection of these structures in the inspection robot. This system is based on proposed multi-view imaging theory using two cameras and three mirrors. We also evaluated whole the circumference images which is obtained by the developed system using a monochrome pattern.