2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (2008)
Anchorage, AK, USA
June 23, 2008 to June 28, 2008
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
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.
Jens T. Thielemann, Goril M. Breivik, Asbjorn Berge, "Pipeline landmark detection for autonomous robot navigation using time-of-flight imagery", 2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, vol. 00, no. , pp. 1-7, 2008, doi:10.1109/CVPRW.2008.4563167