Abstract
This paper investigates the problem of assessing the degree of pipe deformation and the deviation of its longitudinal section profile from a cylindrical shape based on a three-dimensional point model of a hollow pipe under conditions when this model turns out to be displaced (rotated in space) relative to its real position. An algorithm for correcting a three-dimensional point model based on data on the current tilt of the camera is considered, as well as an algorithm for the actually obtained image overlaid with virtual cross-sections of the pipe, close to ideal.
Highlights
Long-term operation of hollow pipes often leads to the fact that such pipes can be deformed under the influence of miscellaneous external factors, can become corroded, and accumulate accidentally falling foreign bodies within it
One of the approaches that makes it possible to diagnose such hollow pipes is to use video diagnostics of the pipe condition by using self-propelled robotic platforms equipped with video cameras and other sensors, which composition depends on the purpose of diagnostics and the destination of the pipeline
The creation of the software for an operator of a self-propelled robotic platform made it necessary to measure a deformation of the pipe and the deviation of its longitudinal section profile from the cylindrical shape
Summary
Long-term operation of hollow pipes often leads to the fact that such pipes can be deformed under the influence of miscellaneous external factors, can become corroded, and accumulate accidentally falling foreign bodies within it. The creation of the software for an operator of a self-propelled robotic platform made it necessary to measure a deformation of the pipe and the deviation of its longitudinal section profile from the cylindrical shape. This problem can be solved by the obtained image overlaid with virtual cross-sections of the pipe, close to ideal. The following designations were used: C is the point where the camera is located, t is the vector of the direction of the camera's view, α is the angle of inclination of the camera along the pipe axis, r is the radius of the pipe cross-section
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