Small Bore Pipe Inspection via 3D Point Cloud Reconstruction
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Solution Overview
Problem
Traditional pipe inspection systems face limitations in image quality and defect identification due to small pipe diameters and low light intensity, leading to unreliable assessment results.
Innovation Solution
A novel method for remote visual inspection using a small-diameter handheld videoscope with image processing techniques such as Structure-from-Motion, 3D modeling, and image unwrapping to enhance image quality and accuracy, without additional sensors or hardware, improving defect localization and image representation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If a small-diameter videoscope is used to inspect small bore pipes, then the videoscope can fit inside the pipe, but the image quality deteriorates due to low light intensity and restricted camera view
Solution Approach 1:
The patent transforms the inspection approach from direct 2D camera viewing to 3D point cloud reconstruction. By capturing multiple images from different positions and reconstructing a 3D model of the pipe interior, the system overcomes the limited field of view and low light intensity constraints of small-diameter scopes, delivering superior image quality and defect detection capability.
Solution Approach 2:
The patent creates a digital copy (point cloud and 3D model) of the pipe interior based on multiple 2D images captured by the videoscope. This digital replica allows for enhanced visualization, measurement, and analysis without being constrained by the physical limitations of the small-diameter camera system.
2Device complexity
If traditional manual visual inspection is used, then the system is simple, but the reliability of defect identification deteriorates
Solution Approach 1:
The patent implements an automated feedback loop where the system captures images, reconstructs 3D point clouds, identifies defects automatically, and provides localized defect information. This closed-loop process eliminates subjective human interpretation and significantly improves the reliability of defect identification compared to manual inspection.
Solution Approach 2:
The patent replaces manual visual inspection with an automated computer-based system that uses image processing algorithms and 3D reconstruction techniques. This substitution of mechanical/manual processes with automated computational methods enhances both reliability and consistency in defect detection.
3Measurement precision
If multiple images are captured for 3D reconstruction, then the image quality and defect localization improve, but the processing time increases
Solution Approach 1:
The patent performs preliminary actions by capturing multiple images and constructing the 3D point cloud model before actual defect analysis. This preprocessing step, though time-consuming, enables rapid and accurate defect localization during the analysis phase, as the spatial framework is already established and ready for efficient querying.
Data Source
AI summary
A novel video inspection method for an interior surface of a small diameter pipe may include the steps of advancing a videoscope through the pipe of known size while acquiring raw images therefrom; estimating the video camera pose for at least some of the raw images; sequentially building a pipe point cloud, a mesh, and a 3D textured model of the interior surface of the pipe from the raw images with adjustments for video camera poses; unwrapping the raw images using camera poses and the pipe point cloud to create unwrapped images of the interior surface of the pipe; and creating a panoramic image of the interior surface of the pipe by stitching the unwrapped images together. The method improves on a conventional Structure-from-Motion technique and allows enhanced sharpness, reduced artifacts, and improved uniformity of lighting as a result of reduced model noise and removal of outliers. The method may be implemented with conventional video borescopes by postprocessing raw images using proprietary software.