Abstract
This paper presents an approach of an autonomous measuring system for the wall thickness of tank roofs. It consists of a mobile robot, a multi-camera system and an ultrasonic sensor. A simultaneous localization and mapping with six degrees of freedom (SLAM-6D) is performed. The developed algorithms are optimized to work in man-made environments. Because of the great amount of line features in such environments, feature extraction is based on line segment detection. We propose a simple method for matching line segments in multiple images of three cameras. The correspondences are used to calculate 3D lines, which are used for localization. The accuracy of the system is evaluated by measurements on a prepared scene with unique markers.
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Freye, C., Bendicks, C., Lilienblum, E., Al-Hamadi, A. (2014). Multiple Camera Approach for SLAM Based Ultrasonic Tank Roof Inspection. In: Campilho, A., Kamel, M. (eds) Image Analysis and Recognition. ICIAR 2014. Lecture Notes in Computer Science(), vol 8815. Springer, Cham. https://doi.org/10.1007/978-3-319-11755-3_50
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DOI: https://doi.org/10.1007/978-3-319-11755-3_50
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