1P1-B02 Mapping the Inside of a Water Pipe with an Underwater Robot

概要

論文の詳細を見る
In this project a program that is capable of generating one image of an entire water pipe's inside wall was developed. An Autonomous Underwater Vehicle (AUV) equipped with a fish-eye camera will be deployed to dive through the pipe and take pictures of its inside wall. A computer program was implemented that maps such pictures to the 3 dimensional model of the water pipe and based on that, generates the image that one would see if the photographed section of pipe was cut along the side and rolled out. A second algorithm uses the rolled out versions of a series of consecutively taken photos to generate a mosaic showing the entire pipe in a single picture.
一般社団法人日本機械学会の論文
2009-05-25