全方位レーザと全方位カメラを用いた配管の 3 次元形状復元 3 - D Shape Reconstruction of

A lot of plumbings such as gas pipes and water pipes exist in factories and so on. However, it is difficult for humans to inspect them directly because they are laid underground. Therefore, automated inspection by robots is desirable, and many efforts have been done to solve this problem. However, many of existing inspection robots have to rotate the camera to record images in piping because a conventional camera with narrow view can see only one direction while piping has a cylindrical geometry. The use of an omnidirectional camera that can take images of 360° in surroundings at a time is effective for the solution of such problem. However, the shape measurement is difficult only with the omnidirectional camera. Then, in this paper, we propose a reconstruction method of piping shape by using an omnidirectional camera and an omnidirectional laser.