University of Twente Student Theses
Applying a model-based approach for visual reconstruction of a challenging internal pipeline environment
Bovenkerk, Jasper (2024) Applying a model-based approach for visual reconstruction of a challenging internal pipeline environment.
|
PDF
27MB |
| Abstract: | Evaluation of water pipeline integrity is essential to prevent loss of water, restricted water access, and environmental damage. In most circumstances, Nondestructive Evaluation (NDE) is the desired approach. Inline inspection is the most practical, since pipelines are mostly located underground. Tools for these inspections can be equipped with many sensors, such as RGB cameras. However, pipeline environments put significant constraints on the tool regarding size. Separate cameras present a suboptimal view of the pipeline for human evaluators to work with. A better visual overview is required to ease and speed up the work of the human evaluators. Previous research has provided Simultaneous Localization And Mapping (SLAM)- and Structure-from-Motion (SfM)-based methodologies to perform similar tasks. However, those methods are not easily applicable in water pipeline environments, as the setup and environment differ. The current setup consists of more cameras with less overlap, and the pipeline is filled with water. This research aims to present a methodology that can create a canvas view in a pipeline environment despite the challenges it brings. This is done by a model-based approach that is as independent from feature points as possible. A model-based approach that can stitch images radially is presented. This approach consists of 1. intrinsic and extrinsic camera calibration, utilizing the constraint of a cylindrical pipeline environment. 2. a model to reconstruct the pipeline radially. 3. a stitcher that stitches together the radial reconstructions. Results show that the model-based approach works well when the parameters have been estimated correctly, which can be challenging for the setup of cameras with limited overlap. Extrinsic calibration inside the pipeline is good as long as a single location with enough reliable features can be found. Stitching of radial reconstructions is of lower quality at times due to a lack of texture in a pipeline environment. The proposed method is a start, but does not suffice to deal with all challenges of the environment. |
| Item Type: | Essay (Master) |
| Clients: | Rosenxt, Enschede, The Netherlands |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 54 computer science |
| Programme: | Computer Science MSc (60300) |
| Link to this item: | https://purl.utwente.nl/essays/102917 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
Show download statistics for this publication
Show download statistics for this publicationRepository Staff Only: item control page