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Full-Text Articles in Engineering
Single-Pass Inline Pipeline 3d Reconstruction Using Depth Camera Array, Zhexiong Shang, Zhigang Shen
Single-Pass Inline Pipeline 3d Reconstruction Using Depth Camera Array, Zhexiong Shang, Zhigang Shen
Department of Construction Engineering and Management: Faculty Publications
A novel inline inspection (ILI) approach using depth cameras array (DCA) is introduced to create high-fidelity, dense 3D pipeline models. A new camera calibration method is introduced to register the color and the depth information of the cameras into a unified pipe model. By incorporating the calibration outcomes into a robust camera motion estimation approach, dense and complete 3D pipe surface reconstruction is achieved by using only the inline image data collected by a self-powered ILI rover in a single pass through a straight pipeline. The outcomes of the laboratory experiments demonstrate one-millimeter geometrical accuracy and 0.1-pixel photometric accuracy. …
A Co-Optimal Coverage Path Planning Method For Aerial Scanning Of Complex Structures, Zhexiong Shang, Justin Bradley, Zhigang Shen
A Co-Optimal Coverage Path Planning Method For Aerial Scanning Of Complex Structures, Zhexiong Shang, Justin Bradley, Zhigang Shen
Department of Construction Engineering and Management: Faculty Publications
The utilization of unmanned aerial vehicles (UAVs) in survey and inspection of civil infrastructure has been growing rapidly. However, computationally efficient solvers that find optimal flight paths while ensuring high-quality data acquisition of the complete 3D structure remains a difficult problem. Existing solvers typically prioritize efficient flight paths, or coverage, or reducing computational complexity of the algorithm – but these objectives are not co-optimized holistically. In this work we introduce a co-optimal coverage path planning (CCPP) method that simultaneously co-optimizes the UAV path, the quality of the captured images, and reducing computational complexity of the solver all while adhering to …