Improving ground penetrating radar (GPR) scanning through the use of external scene knowledge
A ground penetrating radar, to-be-scanned technology, applied in knowledge expression, scene recognition, and dedicated electrical/magnetic detection during transportation, etc., can solve problems such as uneven distribution of underground assets and time-consuming
Pending Publication Date: 2021-09-07
HEXAGON TECH CENT GMBH
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Problems solved by technology
Performing measurements with the GPR is time-consuming because according to the prior art, the area to be scanned first needs to be divided by a measurement grid along which the GPR is moved
[0003] However, common environments where surface scanning is to be performed may not require such detailed scanning, as subsurface assets may not be evenly distributed under the scanned area
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[0050] In order to have simple drawings, in Figure 1 to Figure 6 assumes that the candidate subsurface asset and the landmark object are correctly detected, ie, the candidate subsurface asset corresponds exactly to the subsurface asset and the landmark object is also correctly located. However, neither of these two assumptions needs to hold, since landmark object detection and candidate subsurface asset detection can sometimes produce erroneous results.
[0051] figure 1 Schematic and illustrative drawing of the state of the art showing scan trajectories of ground penetrating radar (GPR). The area scanned by the GPR is subdivided by a mesh 2 applied over the area. External landmark objects 1 a , 1 b constructing the area are generally not taken into account during the subdivision of the area by the grid 2 . GPR moves along grid 2. Real-world motion along the grid produces a motion pattern 3a that deviates from the grid 2 . Subsurface assets 4a, 4b located in the area sca...
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The invention relates to improving ground penetrating radar GPR scanning through the use of external scene knowledge. The invention relates to a method for scanning an area (12) using a ground penetrating radar (GPR) (9) by moving the GPR (9) along at least one scanning trajectory, wherein the following steps are performed: 1) determining at least one landmark object image feature by applying object detection techniques to images of the area to be scanned; 2) determining a position and / or type of at least one landmark object (la, lb) corresponding to the at least one landmark object image feature in a scanning-area coordinate frame; 3) determining a candidate position and / or candidate type of at least one candidate underground asset (4a, 4b, 4c) in the area to be scanned by using the determined position and / or type of the at least one landmark object (la, lb); and 4) determining the at least one scanning trajectory (3b) using the candidate position and / or candidate type of the at least one candidate underground asset (4a, 4b, 4c).
Description
technical field [0001] The present invention relates to improving ground penetrating radar scanning by using external scene knowledge. Background technique [0002] Ground penetrating radar (GPR) is used to detect subsurface assets non-intrusively (ie, without digging the ground). GPR uses radar pulses to image the subsurface. When a boundary between materials with different dielectric constants (electric susceptibility) is encountered, the emitted radar pulses are reflected or refracted or scattered back to the surface, where the returned radar pulses are analyzed for subsurface assets. Common subterranean assets to inspect are pipelines that carry gas, water or electricity. GPRs are effective for locating plastic pipes or concrete storm and sanitary sewers, for example, they cannot be effectively located using standard electromagnetic induction utility locator tools, which only recognize conductive materials. Within the area to be scanned, the GPR moves along the track ...
Claims
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IPC IPC(8): G01V3/12G06K9/00G06K9/32G06K9/62
CPCG01V3/12G06F18/24G06N3/08G01S13/885G01V3/16G06N5/047G01S7/411G06N5/025G06V20/58
Inventor J·毛恩茨K·门特尔J·格鲁克特
Owner HEXAGON TECH CENT GMBH