Detecting pipe feature points for sewer pipe system based on image information

Alireza Ahrary; Masumi Ishikawa

doi:10.1117/12.664490

20 February 2006 Detecting pipe feature points for sewer pipe system based on image information

Alireza Ahrary, Masumi Ishikawa

Proceedings Volume 6041, ICMIT 2005: Information Systems and Signal Processing; 604130 (2006) https://doi.org/10.1117/12.664490
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

We propose a new algorithm for detection of manholes and joints in a sewer pipe system based on image information. In this system we use a specially designed sewer inspection robot to capture images from inside the pipe. These images are divided into two rectangular regions of interest (ROI), to each of which the canny algorithm is applied for edge detection. Next, we define a feature vector for the detected edge in each ROI. Finally, the feature points and the distance between the robot and each feature point are provided by comparing the feature vector with the corresponding ROI feature vector obtained by field test using KANTARO. The methodology is evaluated using the real image data captured by the robot with a camera and other sensors.

Citation Download Citation

Alireza Ahrary and Masumi Ishikawa "Detecting pipe feature points for sewer pipe system based on image information", Proc. SPIE 6041, ICMIT 2005: Information Systems and Signal Processing, 604130 (20 February 2006); https://doi.org/10.1117/12.664490

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