Self-localization and 3-D model construction of pipe by earthworm robot equipped with omni-directional rangefinder
Self-localization and 3-D model construction of pipe by earthworm robot equipped with omni-directional rangefinder
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DOI：
10.1109/robio.2011.6181421
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
A. Yamashita;K. Matsui;Ryosuke Kawanishi;T. Kaneko;T. Murakami;H. Omori;Taro Nakamura;H. Asama
中科院分区：
文献类型：
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作者：
A. Yamashita;K. Matsui;Ryosuke Kawanishi;T. Kaneko;T. Murakami;H. Omori;Taro Nakamura;H. Asama
公用事业、工厂等存在着大量的燃气管道、水管等管道。使用全方位摄像机，一次可拍摄周围环境360度的图像，是管道检测的有效手段。然而，只有全向摄像机才能实现形状的测量。因此，在本文中，我们提出了一种利用全向摄像机和全向激光构成的测距仪重建管道形状的方法。测距仪安装在蚯蚓机器人上。该方法采用光截面法计算三维坐标。通过将三维坐标与由运动结构估计的摄像机运动信息相结合，重建出管道的形状。通过实验验证了该方法的有效性。
A lot of plumbings such as gas pipes and water pipes exist in public utilities, factories and so on. The use of an omni-directional camera which can take images of 360 deg in surroundings at a time is effective for pipe inspection. However, shape measurement is difficult only with the omnidirectional camera. Therefore, in this paper, we propose a reconstruction method of a piping shape by using a rangefinder constructed with an omni-directional camera and an omnidirectional laser. The rangefinder is mounted on an earthworm robot. Our method calculates 3-D coordinates by the light section method. By integrating the 3-D coordinates with the information of camera motion estimated by the structure from motion technique, the shape of the pipe is reconstructed. The validity of the proposed method is shown through experiments.