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http://dx.doi.org/10.5302/J.ICROS.2011.17.11.1159

A 3-D Tube Reconstruction based on Axis Alignment of Multiple Laser Scanning  

Baek, Seung-Hae (Kyungpook National University)
Park, Soon-Yong (Kyungpook National University)
Kim, Seung-Ho (Korea Atomic Energy Research Institute)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.11, 2011 , pp. 1159-1167 More about this Journal
Abstract
A novel 3D tube scanning technique is proposed. The proposed tube scanning technique is developed for a special tube inspection module which consists of four line-lasers and one camera. Using the scanning module, we can reconstruct the 360 degree shapes of the inner surfaces of a cylindrical tube. From an image frame captured by the camera, we reconstruct a partial tube model based on four laser triangulations. Then by aligning such partial models with respect to a reference tube axis, a complete 3D shape of the tube is reconstructed. The tube axis in each reconstructed frame is aligned with a 3D Euclidean transformation to the reference axis. Several experiments show that the proposed method can align multiple tube axes very accurately and reconstruct 3D shapes of a tube with very low shape distortion.
Keywords
multiple laser; tube inspection; 3D reconstruction; axis alignment;
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