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

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

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Sammendrag
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.
Språk
Engelsk
Forfatter(e)
Institusjon(er)
  • SINTEF IKT / Optiske målesystemer og dataanalyse
År
2008
Forlag
IEEE
Bok
IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops 2008, CVPR Workshops 2008, Anchorage, AK, 23-28 June, 2008
ISBN
9781424423392
Side(r)
1572 - 1578