Stereo Tracking and 3D Reconstruction of Underwater Pipes

Vinicius Cesar, Bernardo Reis, Saulo Pessoa, Judith Kelner and Ismael Santos

Abstract

Installing flexible oil pipes in deep underwater environments is a risky operation, which is currently monitored by manually comparing the geometric conditions to the simulated studies. In order to avoid this error-prone assessment, this paper proposes an algorithm to track and reconstruct the pipe medial axis using stereo cameras. By taking advantage of the scenario illumination and the pipe texture, it is possible to devise an energy maximization approach that efficiently tracks the pipe. The reconstruction technique is an enhancement over a state-of-the-art B-spline reconstruction algorithm, specializing it for plane curves. Experiments on synthetic and laboratory videos report a very low mean tracking and reconstruction errors, while there are strong evidences of the robustness on a real scenario.

Session

Poster 2

Files

PDF iconExtended Abstract (PDF, 446K)
PDF iconPaper (PDF, 2046K)
ZIP iconSupplemental Materials (ZIP, 15M)

DOI

10.5244/C.29.137
https://dx.doi.org/10.5244/C.29.137

Citation

Vinicius Cesar, Bernardo Reis, Saulo Pessoa, Judith Kelner and Ismael Santos. Stereo Tracking and 3D Reconstruction of Underwater Pipes. In Xianghua Xie, Mark W. Jones, and Gary K. L. Tam, editors, Proceedings of the British Machine Vision Conference (BMVC), pages 137.1-137.12. BMVA Press, September 2015.

Bibtex

@inproceedings{BMVC2015_137,
	title={Stereo Tracking and 3D Reconstruction of Underwater Pipes},
	author={Vinicius Cesar and Bernardo Reis and Saulo Pessoa and Judith Kelner and Ismael Santos},
	year={2015},
	month={September},
	pages={137.1-137.12},
	articleno={137},
	numpages={12},
	booktitle={Proceedings of the British Machine Vision Conference (BMVC)},
	publisher={BMVA Press},
	editor={Xianghua Xie, Mark W. Jones, and Gary K. L. Tam},
	doi={10.5244/C.29.137},
	isbn={1-901725-53-7},
	url={https://dx.doi.org/10.5244/C.29.137}
}