Abstract
In this paper we propose a robust image and sensor based approach for automatic 3d model acquisition of sewer shafts from survey videos captured by a downward-looking fisheye-lens camera while lowering it into the shaft. Our approach is based on Structure from Motion adjusted to the constrained motion and scene, and involves shape recognition in order to obtain the geometry of the scene appropriately. The approach has been implemented and applied successfully to the practical stage as part of a commercial software.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Cooper, D., Pridmore, T.P., Taylor, N.: Towards the Recovery of Extrinsic Camera Parameters from Video Records of Sewer Surveys. Machine Vision and Applications 11, 53–63 (1998)
Kannala, J.: Measuring the Shape of Sewer Pipes from Video. Master thesis, Helsinki University of Technology, Helsinki (2004)
Kannala, J., Brandt, S.S., Heikkilä, J.: Measuring and Modelling Sewer Pipes from Video. Machine Vision and Applications 19(2), 73–83 (2008)
Zhang, Z.: Flexible Camera Calibration by Viewing a Plane from Unknown Orientations. In: Proc. ICCV, pp. 666–673 (1999)
Scaramuzza, D., Martinelli, A., Siegwart, R.: A Flexible Technique for Accurate Omnidirection Camera Calibration and Structure from Motion. In: Proc. ICVS, p. 45 (2006)
Chang, P., Hebert, M.: Omni-Directional Structure from Motion. In: Proc. IEEE Workshop on Omnidirectional Vision, p. 127 (2000)
Bartczak, B., Köser, K., Woelk, F., Koch, R.: Extraction of 3D Freeform Surfaces as Visual Landmarks for Real-Time Tracking. Journal of Real-Time Image Processing 2(2–3), 81–101 (2007)
Tomasi, C., Kanade, T.: Detection and Tracking of Point Features. Carnegie Mellon University Technical Report CMU-CS-91-132, 04/1991
Pratt, V.: Direct Least Squares Fitting of Algebraic Surfaces. Computer Graphics 21(4), 145–152 (1987)
Fitzgibbon, A., Pilu, M., Fisher, R.: Direct Least Squares Fitting of Ellipses. IEEE Transactions on Pattern Analysis and Machine Intelligence 21(5), 476–480 (1999)
Chauduri, D., Samal, A.: A Simple Method for Fitting of Boundary Rectangles to Closed Regions. Pattern Recognition 40(7), 1981–1989 (2007)
Dierckx, P.: Curve and Surface Fitting with Splines. Oxford University Press, Oxford (1993)
Burger, B., Fiedler, M., Gellrich, J., Reuter, H.-P.: Schachtinspektion in neuer Qualität. Bauwirtschaftliche Information UmweltBau Nr. 1, 02/2009
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Esquivel, S., Koch, R., Rehse, H. (2009). Reconstruction of Sewer Shaft Profiles from Fisheye-Lens Camera Images. In: Denzler, J., Notni, G., Süße, H. (eds) Pattern Recognition. DAGM 2009. Lecture Notes in Computer Science, vol 5748. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03798-6_34
Download citation
DOI: https://doi.org/10.1007/978-3-642-03798-6_34
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-03797-9
Online ISBN: 978-3-642-03798-6
eBook Packages: Computer ScienceComputer Science (R0)