A sensor for pipe inspection: Model, analysis and image extraction

Pipe inspection, for many industrial applications, is commonly carried out using CCTV (Closed-Circuit TV) cameras and off-line human analysis via raw image examination for defect detection. Researchers have proposed the use of additional sensors and lighting systems to create ring profiles onto pipe segments. Geometrical changes in the profile are analyzed to determine pipe deformation. However the light intensity information has not been considered in such works. In this paper we propose an intensity-based profiler system. The sensor consists of a laser profiler that is attached to a standard CCTV system. The physical sensor behavior is described using reflectance theory and experimental data. Finally, an image of the pipe wall is generated by extracting the intensity information existing in the pipe pictures. Defects and anomalies can be identified using this extracted image.