Reconstruction of Sewer Shaft Profiles from Fisheye-Lens Camera Images

摘要

In this paper we propose a robust image and sensor based approach for automatic 3d model acquisition of sewer shafts from survey videos captured by a downward-looking fisheye-lens camera while lowering it into the shaft. Our approach is based on Structure from Motion adjusted to the constrained motion and scene, and involves shape recognition in order to obtain the geometry of the scene appropriately. The approach has been implemented and applied successfully to the practical stage as part of a commercial software.