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552 results about "Fisheye lens" patented technology
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A fisheye lens is an ultra wide-angle lens that produces strong visual distortion intended to create a wide panoramic or hemispherical image. Fisheye lenses achieve extremely wide angles of view. Instead of producing images with straight lines of perspective (rectilinear images), fisheye lenses use a special mapping (for example: equisolid angle), which gives images a characteristic convex non-rectilinear appearance.
Fisheye lens and imaging device using it
A fisheye lens with a field angle of at least one hundred sixty degrees is formed of two lens groups, arranged in order from the object side, as follows: a first lens group having negative refractive power and a second lens group having positive refractive power. The first lens group includes, arranged in order from the object side, two lens elements, each having negative refractive power and a meniscus shape with the convex surface on the object side, a lens element having negative refractive power with a concave surface on the image side, and two lens elements of opposite refractive powers. The second lens group includes, arranged in order from the object side, two lens elements of opposite refractive powers, a stop, and two lens elements of opposite refractive powers. The fisheye lens preferably satisfies specified conditions related to spacings of lens surfaces and to distortion characteristics of the fisheye lens.
Owner:FUJI PHOTO OPTICAL CO LTD
Image capture device and image processing method
InactiveUS20120242782A1Television system detailsGeometric image transformationImaging processingFisheye lens
A method for processing an image captured by a fisheye lens of an image capture device. The method obtains a point (Px, Py) from an object plane of the fisheye lens, calculates a first projection point (Fx*, Fy*, Fz*) of the obtained point (Px, Py) on a first image plane of a virtual lens, calculates a second projection point (Fx, Fy) of the point (Fx*, Fy*, Fz*) on a second image plane of the fisheye lens, and obtains transforming formulae between (Px, Py) and (Fx, Fy). The method further obtains a back-projection point for each point of the captured image on the object plane of the fisheye lens according to the transforming formulae, and creates an updated image of the specified scene from the back-projection points.
Owner:HON HAI PRECISION IND CO LTD
Fisheye lens graphical user interfaces
ActiveUS7486302B2Cathode-ray tube indicatorsSpecial data processing applicationsGraphicsFisheye lens
A method for interacting with a region-of-interest in an original image displayed on a display screen, comprising: applying a lens to the original image to produce a presentation for display on the display screen, the lens having a focal region for the region-of-interest at least partially surrounded by a shoulder region; receiving one or more first signals to interact with the region-of-interest when a cursor is positioned over the focal region in the presentation; and, receiving one or more second signals to adjust the lens through a graphical user interface (“GUI”) displayed over the lens when the cursor is positioned over the shoulder region in the presentation.
Owner:CALLAHAN CELLULAR L L C
Fisheye lens unit
InactiveUS20070139793A1Improve performanceSmall spherical aberrationOptical elementsFisheye lensAspheric lens
To provide a technique to constitute a fisheye lens unit with a small number of lenses. A fisheye lens unit uses a predetermined projection method, wherein a variation for the predetermined projection method is not less than the variation for an equidistant projection method, the variation being expressed by an increment of an image height in relation to an increment of an incident angle at a predetermined incident angle. The fisheye lens unit includes: a first lens group provided on an object side; a second lens group provided on an image side; and an aperture stop provided between the first lens group and the second lens group. The first lens group consists of three or four lenses, the second lens group consists of two or three lenses including a final lens provided on the furthest image side of the second lens group, and the final lens is an aspheric lens that has an aspheric shape on at least one of two surfaces of the aspheric lens.
Owner:ELMO CO LTD
Method for exploring viewpoint and focal length of camera
InactiveUS6985183B2Calibrate-distortLarge viewing angleTelevision system detailsTelemetry/telecontrol selection arrangementsViewpointsFisheye lens
The present invention is a method for exploring the viewpoint and focal length of a fisheye lens camera (FELC). It employs the characteristic of the central symmetry of the distortion of the fisheye lens (FEL) to set its optic axis by means of a calibration target with a plurality of symmetrically homocentric figures. Once the optic axis is fixed, further disclose the viewpoint (VP) of the FELC along the optic axis through a trail-and-error procedure and calculate its effective focal length and classify it to the primitive projection mode. Because the invention is capable of finding out both the internal and external parameters of the FELC and the calibration method is easy, low-cost, suitable to any projection model, and has greater sensitivity corresponding to an increasing in image distortion, the distortive images can be transformed easily to normal ones which fit in with a central perspective mechanism. Furthermore, the invention is also practicable and excellent in its applications in the fields of quality identification of the FEL and wide-view 3-D metering.
Owner:APPRO TECH
Multiple-fisheye-camera binocular calibration device and method
The invention discloses a multiple-fisheye-camera binocular calibration device and method, and belongs to the technical field of camera calibration. The multiple-fisheye-camera binocular calibration method includes the steps that images of calibration boards at different positions in a calibration target are collected at the same time through two left-and-right-adjacent fisheye cameras of a panorama camera shooting module; an equidistant projection distortion model is selected; inner parameters of two lenses and outer parameters of all view fields are calculated according to the two collected left-and-right-adjacent fisheye lens images and an imaging model respectively; the position relationship between two adjacent camera lenses is calculated according to the position relationship between the two calibration boards on the calibration target and the obtained outer parameters of the two adjacent lenses; inner parameters and outer parameters of a binocular lens are optimized, and therefore optimal inner parameters and outer parameters of a left lens body, optimal inner parameters and outer parameters of a right lens body and the rotating relationship and the translation relationship between the left lens body and the right lens body are obtained. According to the multiple-fisheye-camera binocular calibration method, the calibration-board images with small distortion and the moderate size are collected, it is guaranteed that enough feature points can be found, and the calibration accuracy of a binocular camera is greatly increased.
Owner:CHANGSHA PANODUX TECH CO LTD
Device and method for inspecting inside of underground pipe line and method of inspecting concrete on inside of underground pipe line for deterioration
InactiveUS20050115337A1Reliably determinedAccurate measurementHollow article cleaningStructural/machines measurementFisheye lensGyroscope
A device for inspecting the inside of an underground pipe line which makes it possible to search for cavities on the outside of the underground pipe over the entire internal peripheral surface of the underground pipe, that is, not only upward of the underground pipe, but also toward both sides and downward thereof, to obtain detailed images of the inner peripheral surface of the pipe line without using a complex mechanism, and to display patterns of cracks and irregularities on the inner peripheral surface of the underground pipe by three-dimensional convergence images. The device comprises a pipe line internal self-propelled vehicle and an on-ground control unit, and the pipe line internal self-propelled vehicle is provided with a radar antenna, a camera equipped with a fisheye lens, a gyro, a laser sensor, and an infrared encoder.
Owner:BURN AM
Fisheye image correction method after calibration conducted by fisheye lens
ActiveCN104240236AEasy to operateImprove efficiencyImage enhancementImage analysisCamera lensImage correction
The invention belongs to the field of digital image processing and discloses a fisheye image correction method after calibration conducted by a fisheye lens. The method includes the steps that firstly, a complete fisheye camera projection and distortion model is established and is a commonly-used fisheye model, a self-made planer calibration board and the commonly-used fisheye model are used for calibrating model parameters of a fisheye camera, and the calibrated lens distortion parameters are used for restoring circular distortion fisheye images to perspective images meeting the requirements for the human eye visual effect. The fisheye lens calibration and fisheye distortion correction method based on a planar checkerboard is quite suitable for occasions such as visual navigation and mobile monitoring. The method is suitable for the circular fisheye images and incomplete fisheye images can be corrected as well.
Owner:SUN YAT SEN UNIV +1
Calibration method of fish-eye lens imaging system applied to target detection
InactiveCN101577002ASimplify Mathematical ModelingCalibration results are reliableImage analysisCamera lensPhysical model
The invention discloses a calibration method of a fish-eye lens imaging system applied to target detection, which comprises the step of mathematical modeling of the fish-eye lens imaging system based on an equidistant projection and the precise calibrations of the intrinsic parameters of the imaging system (including the central point O3(u,v) of an imaging surface), the distance L between the top section of the fish-eye lens and a theoretic refractive optical center plane, the radial distortion coefficient K of the fish-eye lens, an image element aspect scale factor i, the plane torsional angle gamma between a camera coordinate system and an imaging surface coordinate system, various parameter calibration methods and matched software. The method aims at the omnidirectional vision system based on the fish-eye lens, analyzes the optical structure and the imaging principle of the fish-eye lens and introduces deformation parameters so as to establish the physical model of the fish-eye lens imaging system and then deduce the mathematical model of the system. With an independently-developed calibration procedure, three-dimensional space information is obtained from a two-dimensional image and applied to the calibration of imaging system parameters. The method is applicable to the calibration of various fish-eye type panoramic lenses, is convenient and accurate and has strong practicability.
Owner:TIANJIN UNIVERSITY OF TECHNOLOGY
Method for acquiring panorama image by using two fish-eye camera lenses
InactiveCN104835118AReduce volumeReduce difficultyGeometric image transformationDetails involving image mosaicingCamera lensFisheye lens
The invention relates to the technical field of image communication, and particularly relates to a method for acquiring a panorama image by using two fish-eye camera lenses. The method comprises the following operation steps: (1) camera configuration: two fish-eye lenses with view angles of greater than 180 degrees are oppositely arranged on a camera, so that two ends of the view angles of the two fish-eye lenses are overlapped; (2) image acquisition: the camera is arranged in a panorama, and acquires a part of the panorama through one fish-eye lens to form a first image, and acquires the other part of the panorama through the other fish-eye lens to form a second image, and two ends of the first image and the second image are overlapped; (3) image processing: a processor of the camera splices the first image and the second image to form a 360-degree panorama image. According to the method provided by the invention, two images can be quickly obtained by the two fish-eye lenses, and combined into a panorama image, the operation is simple and convenient, and the combination effect is good.
Owner:ZHEJIANG DETU NETWORK CO LTD
Method and system for generating pyramid fisheye lens detail-in-context presentations
ActiveUS20070083819A1Geometric image transformationCathode-ray tube indicatorsFisheye lensShoulder region
A method for generating a presentation of a region-of-interest in an original image for display on a display screen, comprising: establishing a focal region for the region-of-interest at least partially surrounded by a shoulder region; creating a focal region image for the focal region by scaling the original image within the focal region by a focal region magnification; creating a shoulder region image for the shoulder region by scaling the original image within the shoulder region by a shoulder region magnification, the shoulder region magnification being less than the focal region magnification; and, overlaying the focal region image and the shoulder region image on the original image to thereby generate the presentation.
Owner:ACCESSIFY LLC
Image converter
InactiveUS20100053325A1Less distortionImage enhancementGeometric image transformationFisheye lensOrthogonal coordinates
Any given part is cut out from a distorted circular image photographed by use of a fisheye lens and converted into a planar regular image with less distortion. A virtual sphere H having a radius R on a distorted circular image S on an XY plane is defined, thereby allowing a user to designate a cut-out center point P, a magnification m, and a planar inclination angle φ. A visual line vector n passing through an intersecting point Q immediately above the point P is determined to define an UV orthogonal coordinate system having an orientation depending on the angle φ on a plane orthogonal to a visual line vector n at a point G in which a distance between two points OG is given as m·R. The UV orthogonal coordinate system is curved along the side face C of a “virtual cylindrical column in which the point G forms one point on the side face to have a straight line V′ parallel to the V axis and also passing through the point O as a central axis,” thereby defining the UV curved coordinate system. Correspondence relationship equations between a point Ci (ui, vi) on the UV curved coordinate system and a point Si (xi, yi) on the XY coordinate system are used to obtain an image in the vicinity of a point P on the UV curved coordinate system, and the image is expanded on a plane T to obtain a planar regular image.
Owner:DAI NIPPON PRINTING CO LTD
Unfolding method for restoration of fisheye image
InactiveCN101814181ACapture positive effectsEliminate the phenomenon of "pull"Image enhancementTelevision system detailsProjection PrincipleFisheye lens
The invention provides an unfolding method for restoration of a fisheye image, and relates to the restoration and correction of a fisheye image based on the equidistant projection principle of a spherical model. The method comprises the following steps of: establishing a spherical imaging model, consistent with the equidistant projection principle, of the fisheye image(including the establishment of a fisheye image coordinate system and a camera coordinate system); establishing an unfolded window coordinate system and an unfolded image coordinate system, and calculating the relationship between the two coordinate systems; establishing the relationship between the unfolded image coordinate system and the camera coordinate system; calculating the relationship between the unfolded image coordinate system and the fisheye image coordinate system; and finally obtaining a whole image unfolded in any specified direction. The method can overcome the defect of the methods that can unfold only the top part information of fisheye lenses and can not only restore the top part information, but also restore all information in any direction, The method can be applied to the equidistant projection principle based fisheye lenses as well as other projection principle based fisheye lenses, so that the method has a wide application prospect in fields of image tracking, monitoring, video conference and the like.
Owner:TIANJIN UNIVERSITY OF TECHNOLOGY
Robot cleaning device and robot cleaning system and control method thereof
InactiveCN1470368AAccurate identificationEffectively completedAutomatic obstacle detectionTravelling automatic controlFisheye lensView camera
The machine (10) has a forward viewing camera and infrared sensors to avoid ground objects and a vertically viewing camera (14) with a fisheye lens which interprets data from ceiling (33) mounted transmitters (31) to guide it over the cleaning path.
Owner:SAMSUNG GWANGJU ELECTRONICS CO LTD
Reflective panoramic imaging system and method
InactiveCN105530431AEasy to operateAvoid data synchronizationTelevision system detailsColor television detailsCamera lensFisheye lens
The invention discloses a reflective panoramic imaging system and method. The reflective panoramic imaging method comprises the following steps: directly mounting an optical system on an image sensor or an existing camera optical system, and respectively locating image planes of two groups of fisheye lenses on the image sensor through a reflection element in a non-overlapped manner; selecting a camera to enter a shooting mode; dividing images formed by light on the image sensor after passing by the first fisheye lens and the second fisheye lens; respectively processing the divided images, comprising image correction, color adjustment, noise elimination, exposure and contrast adjustment; extracting, screening and matching feature points of the images; carrying out image registration, splicing and fusion; selecting the shooting mode, and compressing and storing a panoramic image and a panoramic video; and selecting a preview mode, rendering the spliced panoramic image, and displaying the panoramic image on a device connected to the camera. The reflective panoramic imaging method disclosed by the invention can be used for shooting a complete panoramic image, guaranteeing the synchronism of video steam and obtaining the panoramic video more easily.
Owner:景好
Method for generating stereoscopic panorama by fish eye image
InactiveCN101000461AAddressing loss of precisionStereoscopic photographyPanoramic photographyCamera lensFisheye lens
A method of using fisheye image to generate stereoscopic panorama includes shooting out a numbers of fisheye image by fisheye camera according to specified sequence, confirming character point air at overlapped region of adjacent images and setting-up stereoscopic space model as per obtained matching point pair, calculating out position of original image on stereoscopic space and resampling original fisheye image according to calculated out parameter in order to generate out stereoscopic panorama.
Owner:SHANGHAI JIETU HOLIDAY NETWORK TECH
Correction method of fisheye image distortion on basis of cubic projection
InactiveCN101726855AOvercome geometric deformationIn line with intuitive feelingOptical elementsViewpointsFisheye lens
The invention belongs to the field of advanced manufacturing technology, relating to a correction method of fisheye image distortion on the basis of cubic projection. The correction method comprises the following steps: 1. using a fisheye lens to obtain an imaging model, and calibrating the fisheye lens according to the imaging model to obtain a calibration parameter; 2. according to the collected fisheye image, determining a viewpoint, taking the viewpoint as the original point of a coordinate system, and building a cubic perspective projection model to obtain the cubic perspective projection of a spatial point; 3. building a mapping relation between the cubic perspective projection of the spatial point and the fisheye image; and 4. using bilinearity interpolation to realize the distortion correction of the fisheye image. The invention utilizes a cubic projection model to correct distorted fisheye images and can effectively overcome the geometric distortion existing in the original fisheye images, and the corrected image conforms to the intuitional feeling of people and has strong sense of reality.
Owner:HEBEI UNIV OF TECH
System and method of fisheye image planar projection
InactiveUS20080101713A1Reduce vertical line distortionReduce distortion problemsTelevision system detailsGeometric image transformationCamera lensFisheye lens
Various embodiments of a system and method of fisheye lens image planar projection are disclosed. In general, an image created by a camera with a fisheye lens is mapped to an output image in such a way as to greatly reduce perceived distortions of people and other subjects in the output image. An advantage of at least one embodiment is that ultra wide angle fisheye lenses can now be used in a wide range of photographic situations.
Owner:ASTRAL IMA
Method for obtaining leaf area index and average leaf inclination of rice canopy by using hemisphere photographic process
The invention discloses a method for obtaining the leaf area index and the average leaf inclination of rice canopy by using a hemisphere photographic process. The method comprises the following steps of: collecting a hemisphere image of rice canopy from bottom to top inside the rice canopy by using a digital hemisphere shooting system based on a fisheye lens; after performing gray conversion and binaryzation on the hemisphere image, obtaining the canopy porosity under the zenith angle at a viewing angle of 57 degrees, and calculating the rice canopies LAI and ALIA under the condition of the single zenith angle at the viewing angle of 57 degrees based on the Beer-Lambert law and a poisson model as well as the two characteristics of the blade projection function of the rice canopy; simulating the leaf inclination distribution of the rice canopy by an elliptic function and optimizing the rice canopies LAI and ALIA calculated by using the single-angle method so as to rapidly acquire the rice canopies LAI and ALIA. The rice canopies LAI and ALIA can be obtained in real time without picking up rice blade outdoors for destructive artificial measurement, and basic parameters for monitoring the rice growth in real time and remotely estimating the yield of rice are provided.
Owner:ZHEJIANG UNIV
Conference system, monitoring system, image processing apparatus, image processing method and a non-transitory computer-readable storage medium
InactiveUS20120093365A1Accurately and effectively recognizingImage enhancementImage analysisObject basedFisheye lens
To provide a conference system, a monitoring system, an image processing apparatus, an image processing method and A non-transitory computer-readable storage medium that stores a computer-image processing program capable of accurately and effectively recognizing an object based on a fisheye-distorted image photographed at a wide angle.When an instruction of selecting an arbitrary point Ci(ui, vi) of a 2D-viewable planar regular image generated based on a fisheye-distorted image S photographed by a fisheye lens is received, point Si(xi, yi) on the fisheye-distorted image S is calculated as a coordinate corresponding to Ci(ui, vi), and a pixel information group configuring the planar regular image is newly generated based on a pixel information group configuring the fisheye-distorted image S.
Owner:DAI NIPPON PRINTING CO LTD
Fisheye lens graphical user interfaces
ActiveUS20050262447A1Special data processing applicationsInput/output processes for data processingGraphicsFisheye lens
A method for interacting with a region-of-interest in an original image displayed on a display screen, comprising: applying a lens to the original image to produce a presentation for display on the display screen, the lens having a focal region for the region-of-interest at least partially surrounded by a shoulder region; receiving one or more first signals to interact with the region-of-interest when a cursor is positioned over the focal region in the presentation; and, receiving one or more second signals to adjust the lens through a graphical user interface (“GUI”) displayed over the lens when the cursor is positioned over the shoulder region in the presentation.
Owner:CALLAHAN CELLULAR L L C
Fisheye lens
InactiveUS20100277816A1Desirable mechanical propertyDesirable optical propertyLensCamera lensIlluminance
Disclosed is a fisheye lens comprised of the first through the seventh lens elements: wherein a field of view is larger than 180° a calibrated distortion is 10% or less, a relative illumination is 80% or more, all the refractive surfaces of the lens elements are spherical surfaces, the first lens element is a negative meniscus lens element having a convex surface facing an object side, the second lens element is a bi-concave lens element, the third lens element is a positive meniscus lens element having a convex surface facing an image side, a stop is located between the third and the fourth lens elements, the fourth lens element is a bi-convex lens element, the fifth lens element is a bi-concave lens element, the sixth and the seventh lens elements are bi-convex lens elements.
Owner:NANOPHOTONICS CO LTD
Splicing method for panoramic images of fish-eye lenses
ActiveCN105678729AReduce coupling effectReduce Stitching ErrorsImage enhancementImage analysisCamera lensFisheye lens
Owner:段梦凡
Fisheye image correction method of vehicle panoramic display system based on spherical projection model and inverse transformation model
A fisheye lens is required to be adopted by the vehicle panoramic display system to obtain a 180-degree wide visual field, however, the visual field is deformed severely. The invention discloses a fisheye image correction method of the vehicle panoramic display system based on a spherical projection model and an inverse transformation model. The method comprises the steps as follows: (1), confirming an area A which is required to be displayed in an aerial view, and establishing a world coordinate system to position the display area; (2), obtaining a coordinate B of the area required to be displayed in a spherical longitude and latitude mapping coordinate system according to camera mounting parameters; (3), confirming the position C of the coordinate B in an original image collected by the fisheye lens according to the fisheye lens spherical projection model; (4), establishing a coordinate transformation relation from C to A through inverse projection transformation; and (5), performing interpolation arithmetic for non-integer points through a bilinear interpolation method to obtain a complete aerial view in a certain direction of the vehicle. The algorithm provided by the invention is simple in implementation and strong in universality and instantaneity.
Owner:丹阳科美汽车部件有限公司
Birefringent spectral filter with wide field of view and associated communications method and apparatus
ActiveUS20070166045A1Wide field of viewPolarising elementsElectromagnetic transmissionOcean bottomPeak value
A spectral filter is adapted for use in a receiver, for example in a short range submarine laser signal path, wherein the relative orientations of the receiver is such that the signal may appear diffusely or at an unknown point in a wide external field of view around an optical axis of the receiver. A narrow band spectral filter in the receiver has cascaded stages of tunable retarders with includes multi-conjugate stages that tolerate light that is oblique to normal, up to a diverging internal field of view angle up to about 10°. A fisheye lens assembly refracts incoming light from a wider external field of 170° or more and directs the light into the filter over the narrow internal field of view. Calibration and feedback control can be provided to stabilize the discriminated wavelength peak, which remains at the same center wavelength over the span of the internal field of view notwithstanding the difference in retarder thicknesses traversed along paths that are normal to the retarders versus oblique to the optical axis.
Owner:CHEMIMAGE TECH LLC
Fisheye lens
InactiveUS6844991B2Good optical performanceWell corrected curvatureOptical elementsCamera lensFisheye lens
An object of the present invention is to provide a fisheye lens, in spite of its compactness, having an angle of view of 180 degrees and a fast f-number of 2.8 with securing sufficient back focal length and suitable for a digital camera. The fisheye lens consists of a front lens group G1 having negative refractive power and a rear lens group G2 having positive refractive power locating with a space along the optical axis apart from the front lens group G1. The front lens group G1 includes a plurality of negative lens components, L1 and L2. The rear lens group G2 includes at least one cemented lens L5, and given conditional expressions are satisfied.
Owner:TAGMASTER AB +1
Device and related method for converting display screen into touch panel screen
InactiveUS20100328200A1Cathode-ray tube indicatorsInput/output processes for data processingImaging processingFisheye lens
A device for converting display screen into touch panel screen includes a projection screen; an image projection unit for projecting an image on the projection screen; a light pointer for emitting a light spot signal of a specific wavelength on the projection screen; an image detecting unit, which includes a fisheye lens for receiving the image on the projection screen to generate a fisheye distorted image; and an optical filter for filtering out the optical energy except the light spot signal of the specific wavelength; an image processing unit, coupled to the image detecting unit, for calculating a first position of the light spot on the projection screen according to the fisheye distorted image; and a message transmitting unit, coupled to the image processing unit, for outputting a touch panel signal according to the calculating result of the image processing unit.
Owner:AVISONIC TECH
Image correction method and related image correction system thereof
ActiveUS20120114262A1Reduce geometric distortionImprove processing speedImage enhancementImage analysisCamera lensFisheye lens
The present invention provides an image correction method and a related image correction system which can correct images captured via a fisheye lens or a ultra-wide angle lens camera so as to alleviate geometrical distortion in the images, and geometrically adjust the images according to user's requirements. Wherein, the present invention further enhances the processing performance of image correction computation by a memory allocation technique.
Owner:AVISONIC TECH
A Distortion Correction Method for Fisheye Lens
InactiveCN101783011BImprove accuracyHigh speedImage enhancementGeometric image transformationFisheye lensImaging processing
Owner:NINGBO UNIV
Device and method for inspecting inside of underground pipe line and method of inspecting concrete on inside of underground pipe line for deterioration
InactiveUS7131344B2Improve accuracyImprove detection accuracyHollow article cleaningStructural/machines measurementCamera lensFisheye lens
A device for inspecting the inside of an underground pipe line which makes it possible to search for cavities on the outside of the underground pipe over the entire internal peripheral surface of the underground pipe, that is, not only upward of the underground pipe, but also toward both sides and downward thereof, to obtain detailed images of the inner peripheral surface of the pipe line without using a complex mechanism, and to display patterns of cracks and irregularities on the inner peripheral surface of the underground pipe by three-dimensional convergence images. The device comprises a pipe line internal self-propelled vehicle and an on-ground control unit, and the pipe line internal self-propelled vehicle is provided with a radar antenna, a camera equipped with a fisheye lens, a gyro, a laser sensor, and an infrared encoder.
Owner:BURN AM
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