To main content

Pipeline Landmark Detection for Autonomous Robot Navigation using Time-of-Flight Imagery

Pipeline Landmark Detection for Autonomous Robot Navigation using Time-of-Flight Imagery

Category
Part of a book/report
Abstract
3D imaging systems provide valuable information for autonomous robot navigation based on landmark detection in pipelines. This paper presents a method for using a time-of-flight (TOF) camera for detection and tracking of pipeline features such as junctions, bends and obstacles. Feature extraction is done by fitting a cylinder to images of the pipeline. Data in captured images appear to take a conic rather than cylindrical shape, and we adjust the geometric primitive accordingly. Pixels deviating from the estimated cylinder/cone fit are grouped into blobs. Blobs fulfilling constraints on shape and stability over time are then tracked. The usefulness of TOF imagery as a source for landmark detection and tracking in pipelines is evaluated by comparison to auxiliary measurements. Experiments using a model pipeline and a prototype robot show encouraging results.
Language
English
Author(s)
Affiliation
  • SINTEF Digital / Smart Sensor Systems
Year
2008
Publisher
IEEE
Book
IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops 2008, CVPR Workshops 2008, Anchorage, AK, 23-28 June, 2008
ISBN
9781424423392
Page(s)
1572 - 1578