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Rotating optical geometry sensor for inner pipe-surface reconstruction

: Ritter, M.; Frey, C.W.

Postprint urn:nbn:de:0011-n-1232422 (5.7 MByte PDF)
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Copyright 2010 Society of Photo-Optical Instrumentation Engineers. One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited.
Created on: 30.3.2010

Fofi, D. ; Society of Photo-Optical Instrumentation Engineers -SPIE-, Bellingham/Wash.; Society for Imaging Science and Technology -IS&T-:
Image processing. Machine vision applications III : 19-21 January 2010, San Jose, California, United States
Bellingham, WA: SPIE, 2010 (Proceedings of SPIE 7538)
ISBN: 9780819479310
Paper 753803
Conference "Image Processing - Machine Vision Applications" <3, 2010, San Jose/Calif.>
Conference Paper, Electronic Publication
Fraunhofer IOSB ()
surface reconstruction; pipe inspection; laser triangulation; laser profiling system

The inspection of sewer or fresh water pipes is usually carried out by a remotely controlled inspection vehicle equipped with a high resolution camera and a lightning system. This operator-oriented approach based on offline analysis of the recorded images is highly subjective and prone to errors. Beside the subjective classification of pipe defects through the operator standard closed circuit television (CCTV) technology is not suitable for detecting geometrical deformations resulting from e.g. structural mechanical weakness of the pipe, corrosion of e.g. cast-iron material or sedimentations. At Fraunhofer Institute of Optronics, System Technologies and Image Exploitation (IOSB) in Karlsruhe, Germany, a new Rotating Optical Geometry Sensor (ROGS) for pipe inspection has been developed which is capable of measuring the inner pipe geometry very precisely over the whole pipe length. This paper describes the developed ROGS system and the online adaption strategy for choosing the optimal system parameters. These parameters are the rotation and traveling speed dependent from the pipe diameter. Furthermore, a practicable calibration methodology is presented which guarantees an identification of the several internal sensor parameters. ROGS has been integrated in two different systems: A rod based system for small fresh water pipes and a standard inspection vehicle based system for large sewer Pipes. These systems have been successfully applied to different pipe systems. With this measurement method the geometric information can be used efficiently for an objective repeatable quality evaluation. Results and experiences in the area of fresh water pipe inspection will be presented.