Imaging Beyond the Pinhole Camera (Computational Imaging and Vision)
Imaging Beyond the Pinhole Camera (Computational Imaging and Vision)
Template Matching Techniques in Computer Vision: Theory and Practice
Template Matching Techniques in Computer Vision: Theory and Practice
Expanding Irregular Graph Pyramid for an Approaching Object
CIARP '09 Proceedings of the 14th Iberoamerican Conference on Pattern Recognition: Progress in Pattern Recognition, Image Analysis, Computer Vision, and Applications
Closing the loop in appearance-guided omnidirectional visual odometry by using vocabulary trees
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DeWaLoP-Monolithic multi-module in-pipe robot system
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
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This article presents a methodology to position an in-pipe robot in the center of a pipe from a line matching algorithm applied to the unwrapped omni-directional camera located at the robot's front-end. The advantage of use omni-directional camera inside the pipes is the relation between the cylindrical image obtained from the camera and the position of the camera on the robot inside the pipe, where by direct relation the circular features become linear. The DeWaLoP in-pipe robot objective is to redevelop the cast-iron pipe-joints of the over 100 years old fresh water supply systems of Vienna and Bratislava. In order to redevelop the pipes, the robot uses a rotating mechanism to clean and apply a sealing material to the pipe-joints. This mechanism must be set perfectly in the center of the pipe to work properly. Therefore, it is crucial to set the in-pipe robot in the center of the pipe's horizontal x and y axes.