Publication: An efficient culvert imaging and mapping system using hybrid method
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Date
2023-07
Authors
Lin, Zhao Hong
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Abstract
Culvert is a kind of sewer pipe that used to discharge water for roads or railways. It plays a vital role in managing water drainage, maintaining the longevity of
roads and railways, protecting infrastructure and so on. It is important to inspect the conditions of the culvert regularly. This project is aimed to design a 3D imaging and mapping system by using image-based method and to produce an automated system for 3D image reconstruction. The technique used in the system is laser profiler technique. The components used are three laser profiler and a camera on a robot car. The system will filter out the laser light and plot using matplotlib library in Python. This report contains three types of different methods to reconstruct a 3D image. First method is using manual captured image to reconstruct a 3D image and use the encoder value of the robot as the length of culvert. It can define Z-axis precisely but is time consuming when reconstructing the 3D image. Second method is using the same way as first method but changing the image data to video data for automated purpose. It is more automated than the first method, but the lack of details in the 3D reconstructed image. Third method is using the video data to reconstruct a 3D image, the length of the culvert is defined by the speed of the robot. It is automated, faster and more detail in reconstructed 3D image, but it has the potential for inaccurate in the length of the culvert explored.