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Proceedings Paper

Detecting pipe feature points for sewer pipe system based on image information
Author(s): Alireza Ahrary; Masumi Ishikawa
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Paper 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.

Paper Details

Date Published: 20 February 2006
PDF: 6 pages
Proc. SPIE 6041, ICMIT 2005: Information Systems and Signal Processing, 604130 (20 February 2006); doi: 10.1117/12.664490
Show Author Affiliations
Alireza Ahrary, FAIS-Robotics Research Institute (Japan)
Kyushu Institute of Technology (Japan)
Masumi Ishikawa, Kyushu Institute of Technology (Japan)


Published in SPIE Proceedings Vol. 6041:
ICMIT 2005: Information Systems and Signal Processing
Yunlong Wei; Kil To Chong; Takayuki Takahashi, Editor(s)

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