Measurement method of the underwater pipe nozzle pose based on monocular vision

Longwang Wang; Wenqi Liu; Mengjie Zhu; Chao Zhai

doi:10.1117/12.3017084

30 April 2024 Measurement method of the underwater pipe nozzle pose based on monocular vision

Longwang Wang, Wenqi Liu, Mengjie Zhu, Chao Zhai

Proceedings Volume 13156, Sixth Conference on Frontiers in Optical Imaging and Technology: Imaging Detection and Target Recognition; 131560X (2024) https://doi.org/10.1117/12.3017084
Event: Sixth Conference on Frontiers in Optical Imaging Technology and Applications (FOI2023), 2023, Nanjing, JS, China

Abstract

Aiming at the problem that it is difficult to accurately locate the underwater circular pipe orifice for the underwater pipe orifice inspection robot, a visual position measurement method for the underwater circular pipe orifice based on the spatial elliptic cone model is designed. Firstly, a simple and easy solution is proposed for the influence of underwater light refraction on camera calibration, and then a set of image processing procedures is proposed for the problems of low recognition rate and poor image quality of underwater orifice images, which can stably extract the edge contour of the underwater orifice. The algorithm process mainly includes the use of bilinear interpolation to narrow the edge transition region, the use of dark channel a priori defogging algorithm to eliminate the image blurring caused by the water body, and the Canny algorithm combined with elliptic filtering to finally get the target orifice contour. Finally, the spatial elliptic cone model is used to calculate the position and attitude of the target orifice in the camera coordinate system. In order to verify the feasibility of this underwater nozzle position measurement method, a positional accuracy measurement device is constructed using a high-precision rotary stage and a translation stage. The experimental results show that the visual localization method designed in this paper has high recognition and localization accuracy, and can meet the needs of practical localization.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Longwang Wang, Wenqi Liu, Mengjie Zhu, and Chao Zhai "Measurement method of the underwater pipe nozzle pose based on monocular vision", Proc. SPIE 13156, Sixth Conference on Frontiers in Optical Imaging and Technology: Imaging Detection and Target Recognition, 131560X (30 April 2024); https://doi.org/10.1117/12.3017084

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KEYWORDS

Cameras

Pipes

Image segmentation

Detection and tracking algorithms

Image processing

Nozzles

Imaging systems

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