A Novel Centralization Method for Pipe Image Stitching

The creation of unwrapped stitched images pipework internal surfaces is being increasingly used to augment routine visual inspection. A significant challenge the these need estimate pose and position camera for each frame, which often alleviated through use a mechanical centralizer ensure held in center pipe. This article proposes novel method image centralization estimation, particularly beneficial circumstances where impractical. approach involves post-inspection captured video, by first estimating probe's relative pipe, using an integrated laser ring projector combined with sensor, then this unwrap image, so it produces undistorted view pipe interior (equivalent unwrapping centralized view). These are stacked produce interior. In paper estimation was successfully demonstrated have 90% confidence interval ±0.5 mm ±0.5° translation rotation changes. create both test card mounted inside aluminum sample artificial defects, cases demonstrating near equivalent results those obtained traditional centralization.