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World class computing and information science research at Strathclyde...

The Strathprints institutional repository is a digital archive of University of Strathclyde's Open Access research outputs. Strathprints provides access to thousands of Open Access research papers by University of Strathclyde researchers, including by researchers from the Department of Computer & Information Sciences involved in mathematically structured programming, similarity and metric search, computer security, software systems, combinatronics and digital health.

The Department also includes the iSchool Research Group, which performs leading research into socio-technical phenomena and topics such as information retrieval and information seeking behaviour.

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Visual odometry and image mosaicing for NDE

Dobie, Gordon and Summan, Rahul and MacLeod, Charles Norman and Pierce, Stephen (2013) Visual odometry and image mosaicing for NDE. NDT and E International, 57. pp. 17-25. ISSN 0963-8695 (In Press)

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Abstract

Miniature robotic vehicles are receiving increasing attention for use in non-destructive testing (NDT) due to their attractiveness in terms of cost, safety and their accessibility to areas where manual inspection is not practical. Cameras can play several roles in a robotic system as a result of the information rich nature of the 2D image signal including object/shape recognition, motion estimation and ranging. This paper considers a robot configured with a single camera that monitors the surface of the structure under the robot as it moves. Visual odometry is demonstrated that can reliably track the robot's position. An image mosaicing approach is presented that calculates the robot's path using the complete image set, taking account of overlapping images that were not consecutive in the image stream. It is shown that this significantly reduced the absolute error of the positional estimate. The system was found to work well on surfaces that were not highly reflecting including steel which is common in industrial plant.