A straight pipe observation from the inside by laser spot array and a TV camera

T. Tsubouchi, Y. Kawaguchi, S. Takaki, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

This research work contributes to an active vision system for an gas pipe inspection robot moving inside of the pipe. The robot must be able to know what shape of the pipes where the robot moving. The pipe shapes include straight, L or T. Also, when it is moving in the straight section, the robot must detect relative angle with respect to its principal axis. The present authors propose to use laser spots array and TV camera for the vision sensor, which can find the three dimensional position of each spot on the surface of the pipe by means of triagulation. Shape of the pipe inside can be reconstructed by the information of the camera. A method is also presented to distinguish the pipe shape whether it is straight or not.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages82-87
Number of pages6
Volume1
Publication statusPublished - 2000
Externally publishedYes
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu
Duration: 2000 Oct 312000 Nov 5

Other

Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityTakamatsu
Period00/10/3100/11/5

Fingerprint

Cameras
Pipe
Lasers
Robots
Inspection
Sensors
Gases

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Tsubouchi, T., Kawaguchi, Y., Takaki, S., & Yuta, S. (2000). A straight pipe observation from the inside by laser spot array and a TV camera. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 82-87)

A straight pipe observation from the inside by laser spot array and a TV camera. / Tsubouchi, T.; Kawaguchi, Y.; Takaki, S.; Yuta, Shinichi.

IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2000. p. 82-87.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tsubouchi, T, Kawaguchi, Y, Takaki, S & Yuta, S 2000, A straight pipe observation from the inside by laser spot array and a TV camera. in IEEE International Conference on Intelligent Robots and Systems. vol. 1, pp. 82-87, 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, 00/10/31.
Tsubouchi T, Kawaguchi Y, Takaki S, Yuta S. A straight pipe observation from the inside by laser spot array and a TV camera. In IEEE International Conference on Intelligent Robots and Systems. Vol. 1. 2000. p. 82-87
Tsubouchi, T. ; Kawaguchi, Y. ; Takaki, S. ; Yuta, Shinichi. / A straight pipe observation from the inside by laser spot array and a TV camera. IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2000. pp. 82-87
@inproceedings{e1fdb84a7d8d448387e14fa2f6a61e10,
title = "A straight pipe observation from the inside by laser spot array and a TV camera",
abstract = "This research work contributes to an active vision system for an gas pipe inspection robot moving inside of the pipe. The robot must be able to know what shape of the pipes where the robot moving. The pipe shapes include straight, L or T. Also, when it is moving in the straight section, the robot must detect relative angle with respect to its principal axis. The present authors propose to use laser spots array and TV camera for the vision sensor, which can find the three dimensional position of each spot on the surface of the pipe by means of triagulation. Shape of the pipe inside can be reconstructed by the information of the camera. A method is also presented to distinguish the pipe shape whether it is straight or not.",
author = "T. Tsubouchi and Y. Kawaguchi and S. Takaki and Shinichi Yuta",
year = "2000",
language = "English",
volume = "1",
pages = "82--87",
booktitle = "IEEE International Conference on Intelligent Robots and Systems",

}

TY - GEN

T1 - A straight pipe observation from the inside by laser spot array and a TV camera

AU - Tsubouchi, T.

AU - Kawaguchi, Y.

AU - Takaki, S.

AU - Yuta, Shinichi

PY - 2000

Y1 - 2000

N2 - This research work contributes to an active vision system for an gas pipe inspection robot moving inside of the pipe. The robot must be able to know what shape of the pipes where the robot moving. The pipe shapes include straight, L or T. Also, when it is moving in the straight section, the robot must detect relative angle with respect to its principal axis. The present authors propose to use laser spots array and TV camera for the vision sensor, which can find the three dimensional position of each spot on the surface of the pipe by means of triagulation. Shape of the pipe inside can be reconstructed by the information of the camera. A method is also presented to distinguish the pipe shape whether it is straight or not.

AB - This research work contributes to an active vision system for an gas pipe inspection robot moving inside of the pipe. The robot must be able to know what shape of the pipes where the robot moving. The pipe shapes include straight, L or T. Also, when it is moving in the straight section, the robot must detect relative angle with respect to its principal axis. The present authors propose to use laser spots array and TV camera for the vision sensor, which can find the three dimensional position of each spot on the surface of the pipe by means of triagulation. Shape of the pipe inside can be reconstructed by the information of the camera. A method is also presented to distinguish the pipe shape whether it is straight or not.

UR - http://www.scopus.com/inward/record.url?scp=0034446376&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0034446376&partnerID=8YFLogxK

M3 - Conference contribution

VL - 1

SP - 82

EP - 87

BT - IEEE International Conference on Intelligent Robots and Systems

ER -