论文标题
3D管网络重建基于运动的结构，具有增量圆锥形检测和圆柱约束
3D Pipe Network Reconstruction Based on Structure from Motion with Incremental Conic Shape Detection and Cylindrical Constraint
论文作者
论文摘要
对于许多行业和城市的基础设施而言，管道检查是一项至关重要的任务。管道的3D信息可用于揭示检查过程中管道表面和位置的变形。在本文中，我们使用单眼内窥镜相机捕获的顺序图像提出了一个3D管重建系统。我们的工作扩展了一种最新的增量结构，即从动作（SFM）方法中，将目标形状给出的先前约束纳入束调整（BA）。使用此约束，我们可以最大程度地减少SFM中一般问题的规模档位。此外，我们的方法可以重建由多个零件组成的管道网络，包括直管，肘部和TEE。在实验中，我们表明，与现有的最新方法相比，所提出的系统可以从单眼摄像机中实现更准确，可靠的管道映射。
Pipe inspection is a critical task for many industries and infrastructure of a city. The 3D information of a pipe can be used for revealing the deformation of the pipe surface and position of the camera during the inspection. In this paper, we propose a 3D pipe reconstruction system using sequential images captured by a monocular endoscopic camera. Our work extends a state-of-the-art incremental Structure-from-Motion (SfM) method to incorporate prior constraints given by the target shape into bundle adjustment (BA). Using this constraint, we can minimize the scale-drift that is the general problem in SfM. Moreover, our method can reconstruct a pipe network composed of multiple parts including straight pipes, elbows, and tees. In the experiments, we show that the proposed system enables more accurate and robust pipe mapping from a monocular camera in comparison with existing state-of-the-art methods.
