Single-pass inline pipeline 3D reconstruction using depth camera array

A novel inline inspection (ILI) approach using depth cameras array (DCA) is introduced to create high-fidelity, dense 3D pipeline models. new camera calibration method register the color and information of into a unified pipe model. By incorporating outcomes robust motion estimation approach, complete surface reconstruction achieved by only image data collected self-powered ILI rover in single pass through straight pipeline. The laboratory experiments demonstrate one-millimeter geometrical accuracy 0.1-pixel photometric accuracy. In reconstructed model longer pipeline, proposed generates at millimeter level with less than 0.5% distance error. performance highlights its potential as useful tool for efficient in-line, non-destructive evaluation assets.