METHOD TO MEASURE AND MAP CURVATURE OF UNDERGROUND CONDUIT USING VISION

摘要

The present invention relates to a method to display images in a three dimensional map by measuring a curvature in a conduit using internal images of an underground conduit, and determining whether any defects exists. The present invention enables an effective and systematic analysis on the shape of a conduit in a special environment utilizing robot control research, and a computer vision which is able to send test equipment in the conduit and freely move the equipment. By understanding such conduit types, appropriate maintenance is able to be executed. Through incorporation of displaying data measured using images in the conduit captured by a camera into three dimensional maps and by displaying accurate morphology of the conduit such as diameter, curvature, defect positions, etc. to allow a worker to easily understand the whole system; general efficiency of the work related with maintenance of the underground conduit is able to be improved.;COPYRIGHT KIPO 2016