University of Twente Student Theses


Mapping the underworld

Meer, A.J.M. van der (2016) Mapping the underworld.

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Abstract:This bachelor assignment contributes to the P.I.R.A.T.E. project. The project’s goal is to create an autonomous pipe inspection robot for small diameter gas distribution mains. The goal of this thesis is to implement a method to create 3D reconstructions of the pipe’s interior. A circular structured light sensor constructed in previous work was used in combination with odometry data from a wheel encoder and orientation data is obtained with an IMU (inertial measuring unit). All measurements are logged and 3D reconstructions are performed offline using MATLAB. All measurements are done on 125mmouter diameter PVC pipes. Reconstructions were done for a 90 degree elbow piece, a T junction, and a small obstacle in the pipe. The incorporation of orientation data into the reconstruction is shown on a large radius 90 degree corner. Robotics
Item Type:Essay (Bachelor)
Utwente, Enschede, The Netherlands
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:30 exact sciences in general, 33 physics, 50 technical science in general, 52 mechanical engineering, 53 electrotechnology, 54 computer science
Programme:Electrical Engineering BSc (56953)
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