Study of Estimating the Travel Distance of the Gas Pipe Inspection Robot by Image Processing

DOI
  • SUGITA Ai
    Dept. of Modern Mechanical Engineering, WASEDA University
  • XU Rong
    Global Information and Telecommunication Institute, WASEDA University
  • ISHII Hiroyuki
    Dept. of Modern Mechanical Engineering, WASEDA University
  • OHYA Jun
    Dept. of Modern Mechanical Engineering, WASEDA University Global Information and Telecommunication Institute, WASEDA University
  • TAKANISHI Atsuo
    Dept. of Modern Mechanical Engineering, WASEDA University

Bibliographic Information

Other Title
  • ガス管内探査ロボットの視覚情報を用いた進行距離推定方法に関する研究

Description

We propose a method to estimate the traveling distance of the camera from the image that taken by a camera traveling on the central axis of the gas pipe. Define the trajectory by following the feature points on the inner wall of the pipe with the optical flow and estimate the distance between the start point and the end point of the trajectory using the pinhole camera model. The distance difference is taken as the traveling distance of the camera.

Journal

Keywords

Details 詳細情報について

  • CRID
    1390290769955145856
  • NII Article ID
    130008140417
  • DOI
    10.11371/aiieej.45.0_22
  • ISSN
    24364398
    24364371
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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