Trinocular stereo system with object space oriented correlation for inner pipe inspection

 

HAERTEL, Maryah Elisa Morastoni; PINTO, Tiago Loureiro Figaro; ALBERTAZZI JR, Armando

PUBLICADO NA MEASUREMENT, v. 73, p. 162-170, 2015. https://doi.org/10.1016/j.measurement.2015.05.015

 

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Resumo

Geometric inspection of pipes is a fundamental task in the oil industry. This work shows the development of a system to measure the geometry of a pipe’s inner wall using a trinocular stereo system. Natural pipe texture is used to produce a point cloud intrinsically organized in a regular mesh in a cylindrical coordinate system. The main novelty in the proposed algorithm is the definition of a regular kernel in object space, which is mathematically projected to each image plane using the inverse triangulation approach. The use of a triple correlation coefficient estimator led to simultaneous detection of homologous points. Experiments depict measurements of pipes with real and simulated textures, and results on a calibrated pipe of approximately 150 mm in diameter showed a mean error of 0.3 mm with a standard deviation of 0.2 mm.

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