3D asset inspection

Abstract

Systems and methods for physical asset inspection are provided. According to one embodiment, a probe is positioned to multiple data capture positions with reference to a physical asset. For each position: odometry data is obtained from an encoder and/or an IMU; a 2D image is captured by a camera; a 3D sensor data frame is captured by a 3D sensor, having a view plane overlapping that of the camera; the odometry data, the 2D image and the 3D sensor data frame are linked and associated with a physical point in real-world space based on the odometry data; and switching between 2D and 3D views within the collected data is facilitated by forming a set of points containing both 2D and 3D data by performing UV mapping based on a known positioning of the camera relative to the 3D sensor.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS[0001]This application claims the benefit of priority of U.S. Provisional Application No. 62 / 119,788, filed Feb. 23, 2015, which is hereby incorporated by reference in its entirety for all purposes.COPYRIGHT NOTICE[0002]Contained herein is material that is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction of the patent disclosure by any person as it appears in the Patent and Trademark Office patent files or records, but otherwise reserves all rights to the copyright whatsoever. Copyright © 2015-2016, Industrial Technology Group, LLC.BACKGROUND[0003]1. Field[0004]Embodiments of the present invention generally relate to the fields of three-dimensional (3D) imaging and inspection of physical assets. In particular, various embodiments relate to systems and methods for vertical structure inspection based on 3D data generated based on depth sensor information and 2D data generated based on imaging dat...

AI Technical Summary

Benefits of technology

[0007]Systems and methods are described for physical asset inspection. According to one embodiment, a probe is positioned to multiple data capture positions with reference to a physical asset. For each of the data capture positions: (i) data is collected regarding the physical asset by performing a data collection process including: (a) reading, by a central processing unit (CPU) of the probe, odometry data from one or more of an encoder and an inertial measurement unit (IMU) attached to or integrated with the probe; (b) capturing, by a camera attached to or integrated with the probe having a first view plane, one or more two-dimensional (2D) images; and (c) capturing, by a three-dimensional (3D) sensor attached to or integrated with the probe and having a second view plane overlapping that

Problems solved by technology

Conventional methods of inspecting vertical structures, such as manholes, do not capture qualitative and quantitative inspection data in a way that is consistent, repeatable, and complete.

One such conventional inspection method is manned entry of the structure relying on t

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