ANALYSIS OF AN RGBD CAMERA FOR MANHOLE INSPECTION
Autor(a) principal: | |
---|---|
Data de Publicação: | 2019 |
Tipo de documento: | Dissertação |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10400.8/4546 |
Resumo: | As the service life of ducts and manholes reaches their end, there is a growing need to preserve the structures. In order to prevent casualties and service interruption, more frequent inspections are advised. To this day most of the inspections are still, manually made. These inspectors need to be highly qualified, and the inspections are done in an hazardous environment so, automating the inspection process would lead to a healthier workplace. Given the recent development in RGBD cameras, with smaller size factor, cost, and weight, this project aims to evaluate the application of one of the more recent models in a manhole inspection environment. Several analysis are done to assess the RGBD sensor performance for 3D model reconstruction, including the comparison with a ground-truth 3D model obtained using a laser point profile sensor with an industrial robot. |
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ANALYSIS OF AN RGBD CAMERA FOR MANHOLE INSPECTIONInspeçãoSistema de inspeçãoTúneisCâmara RGBDRobótica móvelDomínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e InformáticaAs the service life of ducts and manholes reaches their end, there is a growing need to preserve the structures. In order to prevent casualties and service interruption, more frequent inspections are advised. To this day most of the inspections are still, manually made. These inspectors need to be highly qualified, and the inspections are done in an hazardous environment so, automating the inspection process would lead to a healthier workplace. Given the recent development in RGBD cameras, with smaller size factor, cost, and weight, this project aims to evaluate the application of one of the more recent models in a manhole inspection environment. Several analysis are done to assess the RGBD sensor performance for 3D model reconstruction, including the comparison with a ground-truth 3D model obtained using a laser point profile sensor with an industrial robot.Castro, Hugo Filipe Costelha deNeves, Carlos Fernando Couceiro de SousaIC-OnlineJorge, Filipe Castanheira2020-01-23T11:12:07Z2019-11-122019-11-12T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10400.8/4546TID:202380122enginfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-01-17T15:49:31Zoai:iconline.ipleiria.pt:10400.8/4546Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T01:48:21.966220Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
ANALYSIS OF AN RGBD CAMERA FOR MANHOLE INSPECTION |
title |
ANALYSIS OF AN RGBD CAMERA FOR MANHOLE INSPECTION |
spellingShingle |
ANALYSIS OF AN RGBD CAMERA FOR MANHOLE INSPECTION Jorge, Filipe Castanheira Inspeção Sistema de inspeção Túneis Câmara RGBD Robótica móvel Domínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática |
title_short |
ANALYSIS OF AN RGBD CAMERA FOR MANHOLE INSPECTION |
title_full |
ANALYSIS OF AN RGBD CAMERA FOR MANHOLE INSPECTION |
title_fullStr |
ANALYSIS OF AN RGBD CAMERA FOR MANHOLE INSPECTION |
title_full_unstemmed |
ANALYSIS OF AN RGBD CAMERA FOR MANHOLE INSPECTION |
title_sort |
ANALYSIS OF AN RGBD CAMERA FOR MANHOLE INSPECTION |
author |
Jorge, Filipe Castanheira |
author_facet |
Jorge, Filipe Castanheira |
author_role |
author |
dc.contributor.none.fl_str_mv |
Castro, Hugo Filipe Costelha de Neves, Carlos Fernando Couceiro de Sousa IC-Online |
dc.contributor.author.fl_str_mv |
Jorge, Filipe Castanheira |
dc.subject.por.fl_str_mv |
Inspeção Sistema de inspeção Túneis Câmara RGBD Robótica móvel Domínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática |
topic |
Inspeção Sistema de inspeção Túneis Câmara RGBD Robótica móvel Domínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática |
description |
As the service life of ducts and manholes reaches their end, there is a growing need to preserve the structures. In order to prevent casualties and service interruption, more frequent inspections are advised. To this day most of the inspections are still, manually made. These inspectors need to be highly qualified, and the inspections are done in an hazardous environment so, automating the inspection process would lead to a healthier workplace. Given the recent development in RGBD cameras, with smaller size factor, cost, and weight, this project aims to evaluate the application of one of the more recent models in a manhole inspection environment. Several analysis are done to assess the RGBD sensor performance for 3D model reconstruction, including the comparison with a ground-truth 3D model obtained using a laser point profile sensor with an industrial robot. |
publishDate |
2019 |
dc.date.none.fl_str_mv |
2019-11-12 2019-11-12T00:00:00Z 2020-01-23T11:12:07Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10400.8/4546 TID:202380122 |
url |
http://hdl.handle.net/10400.8/4546 |
identifier_str_mv |
TID:202380122 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
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1799136977569710080 |