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Structured light patterns in active stereo vision system for the PIRATE robot

Bastiaens, M.P. (2018) Structured light patterns in active stereo vision system for the PIRATE robot.

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Abstract:The aim of the Pipe Inspection Robot for Autonomous Exploration (PIRATE) project is to develop an autonomous robot platform for inpipe inspection of small diameter, low pressure (urban) gas distribution mains. In order to assess the quality of the pipe detailed information on condition of the network and accurate location of deformation of the pipes, bends and dents is needed. Furthermore, the distances, number of branches and radii of intersections is needed for the robot to autonomously travel the network. This thesis describes the development of an Active Stereo Vision measurement setup which is used to test the e�ectiveness of di�erent light patterns in di�erent pipe setups. The presented patterns are all composed of circles, allowing for the setup to be recreated using lasers instead of a projector. Image processing algorithms are used to extract features from the measurement image and to reconstruct the pipe's inner surface.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/80927
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