Visual function for autopiloting of gas pipe exploration robot

In order to acquire the position coordinates of the broken part of the gas pipe buried in the ground , we are researching the three-dimensional reconstruction of the gas pipe from the image taken with the camera attached to the tip of the robot moving inside the gas pipe . This resarch does not use stereo cameras and 3D measuring instruments, it is trying to reconstruction three dimensions from monocular camera, laser module and lighting.

〇Water-2(Takanishi Lab, Waseda University)
SIP(Cross-ministerial Strategic Promotion Program)