Abrégé

One aspect provides a modular inspection robot for inspecting vertical shafts, chambers or tunnels. An embodiment provides related methods and products. One method includes: capturing, using a plurality of video cameras associated with an infrastructure inspection unit, two or more videos of infrastructure; accessing, using one or more processors, image metadata indicating a mesh of connected vertices based on the two or more videos; selecting, using the one or more processors, image data of frames of the two or more videos for inclusion in an output based on the mesh; and outputting, using the one or more processors, a photo-realistic image of the infrastructure comprising the image data selected. Other examples are described and claimed.

Classes IPC  ?

• G06T 7/50 - Récupération de la profondeur ou de la forme
• G06T 15/08 - Rendu de volume

Abrégé

An embodiment provides a method, including: obtaining, from a multi-sensor pipe inspection robot that traverses through the interior of a pipe, sensor data, such as structured laser light sensor data and Light Detection and Ranging (LIDAR) sensor data, for the interior of the pipe; identifying a pipe feature using one or more of the sensor data types; selecting an image processing technique based on the pipe feature identified using a stored association between the pipe feature and an image processing technique; and forming an image of the interior of the pipe by implementing the selected image processing technique. Other embodiments are described and claimed.

Classes IPC  ?

• G06T 1/00 - Traitement de données d'image, d'application générale
• F16L 55/28 - Caractéristiques de structure

Abrégé

Described is a method of providing an augmented reality (AR) scene of pipe inspection data, including: obtaining, using a processor, pipe inspection data derived from a pipe inspection robot that traverses through the interior of an underground pipe, the pipe inspection data including one or more sets of condition assessment data relating to an interior of the underground pipe; obtaining, using a processor, real-time visual image data of an above-ground surface; combining, using a processor, the pipe inspection data with the real-time visual image data in an AR scene; and displaying, using a display device, the AR scene. Other examples are described and claimed.

Classes IPC  ?

• G06F 3/01 - Dispositions d'entrée ou dispositions d'entrée et de sortie combinées pour l'interaction entre l'utilisateur et le calculateur
• G06T 19/00 - Transformation de modèles ou d'images tridimensionnels [3D] pour infographie
• G06Q 50/06 - Fourniture d'électricité, de gaz ou d'eau
• G02B 27/01 - Dispositifs d'affichage "tête haute"

Abrégé

An autonomous inspector mobile platform robot that is used to inspect a pipe or network of pipes. The robot includes a locomotion device that enables the device to autonomously progress through the pipe and accurately track its pose and odometry during movement. At the same time, image data is autonomously captured to detail the interior portions of the pipe. Images are taken at periodic intervals using a wide angle lens, and additional video images may be captured at locations of interest. Either onboard or off board the device, each captured image is unwarped (if necessary) and combined with images of adjacent pipe sections to create a complete image of the interior features of the inspected pipe. Optional features include additional sensors and measurement devices, various communications systems to communicate with an end node or the surface, and/or image compression software.

Classes IPC  ?

• F16L 55/48 - Indication de la position du hérisson ou du chariot dans le tuyau ou dans la conduite
• F16L 55/26 - Hérissons ou chariots, c.à d. dispositifs pouvant se déplacer dans un tuyau ou dans une conduite et portant ou non un moyen de propulsion autonome
• G01N 21/954 - Inspection de la surface intérieure de corps creux, p.ex. d'alésages
• G06T 9/00 - Codage d'image
• G06T 11/60 - Edition de figures et de texte; Combinaison de figures ou de texte
• H04N 5/30 - Transformation d'informations lumineuses ou analogues en informations électriques
• H04N 5/76 - Enregistrement du signal de télévision