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Anchorage, AK, USA
June 23, 2008 to June 28, 2008
ISBN: 978-1-4244-2339-2
pp: 1-7
Jens T. Thielemann , SINTEF ICT, P.O.Box 124 Blindern, N-0314 Oslo, Norway
Goril M. Breivik , SINTEF ICT, P.O.Box 124 Blindern, N-0314 Oslo, Norway
Asbjorn Berge , SINTEF ICT, P.O.Box 124 Blindern, N-0314 Oslo, Norway
ABSTRACT
3D imaging systems provide valuable information for autonomous robot navigation based on landmark detection in pipelines. This paper presents a method for using a time-of-flight (TOF) camera for detection and tracking of pipeline features such as junctions, bends and obstacles. Feature extraction is done by fitting a cylinder to images of the pipeline. Data in captured images appear to take a conic rather than cylindrical shape, and we adjust the geometric primitive accordingly. Pixels deviating from the estimated cylinder/cone fit are grouped into blobs. Blobs fulfilling constraints on shape and stability over time are then tracked. The usefulness of TOF imagery as a source for landmark detection and tracking in pipelines is evaluated by comparison to auxiliary measurements. Experiments using a model pipeline and a prototype robot show encouraging results.
CITATION
Jens T. Thielemann, Goril M. Breivik, Asbjorn Berge, "Pipeline landmark detection for autonomous robot navigation using time-of-flight imagery", CVPRW, 2008, 2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, 2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops 2008, pp. 1-7, doi:10.1109/CVPRW.2008.4563167
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