Abstract
The 3D quantitative measurement system for a sewer pipe is introduced. Two parallel lasers are rotated by the motor and draw the two annular streaks on the inside surface of the pipe. The circular laser streaks are recorded by the CCD camera. The measurement of the cross-section is established by analyzing the recorded streaks. The tilt of the robot against the axis of the pipe is detected by the deviation between two parallel lasers. It enables us to measure the vertical cross section of the pipe regardless the tilt of the system to the pipe. Experimental result shows the feasibility of the system.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
Tsai R (1987) A versatile camera calibration technique for high accuracy 3d machine vision metrology using off-the-shelf TV cameras and lenses. IEEE J Robotics Automation 3(4):323–344
Davies ER (1990) Machine visio: theory, algorithms, practicalities, Academic Press
Torras C (1992) Computer vision: theory and industrial applications, Springer
Three-dimensional computer vision, a geometric viewpoint, Oliver Fargeras, 1996
Tsuji S, Matumoto F (1979) Detections of ellipses by a modified Hough transform. IEEE Trans Comput 27:777–781
Author information
Authors and Affiliations
Corresponding author
Additional information
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008
About this article
Cite this article
Kawasue, K., Sakai, S., Wakiyama, T. et al. Three-dimensional scanner of a pipe with tilt detection. Artif Life Robotics 13, 336–340 (2008). https://doi.org/10.1007/s10015-008-0572-y
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10015-008-0572-y