Automatic accurate longitudinal location of structural defects in sewer
pipes via monocular ranging

Jianghai He; Zhiqun Hou; Daming Zhu; Zhaoyong Li; Ziqian Li

doi:10.1364/AO.462742

Applied Optics
Vol. 61,
Issue 27,
pp. 7899-7911
(2022)
•https://doi.org/10.1364/AO.462742

Automatic accurate longitudinal location of structural defects in sewer pipes via monocular ranging

Jianghai He, Zhiqun Hou, Daming Zhu, Zhaoyong Li, and Ziqian Li

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Jianghai He, Zhiqun Hou, Daming Zhu, Zhaoyong Li, and Ziqian Li, "Automatic accurate longitudinal location of structural defects in sewer pipes via monocular ranging," Appl. Opt. 61, 7899-7911 (2022)

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Abstract

Rough manual interpretation distance cannot keep up with the intelligent detection and interpretation of sewer pipe defects. We present an automatic location method for the accurate longitudinal distance of the structural defects in sewer pipes via a pinhole-based defect monocular ranging model via image processing of pipe diameters. Then the model verification experiment is undertaken through a comparison with the actual data of the pipe size and the camera parameters. The results of the experiment demonstrate an improved accuracy of this method of defect spatial location and the robustness and stability of the model of the accurate acquisition of the longitudinal distance based on the monocular ranging between the inspection robot and the pipe defect.

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Data underlying the results presented in this paper are not publicly available at this time but may be obtained from the authors upon reasonable request.

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Parameters	Value
Focal length f/mm	5.1
$f_{x}$ , $f_{y} / p i x e l s$	2040,1545
Principal point ( $u_{o}$ , $v_{o}$ )	(960,540)

	Algorithms
	OTHO			CBHO			MSED			Ours
	Accuracy Index (%)
No.	Compl^a	Corr^b	Qlty^c	Compl	Corr	Qlty	Compl	Corr	Qlty	Compl	Corr	Qlty
(a)	4.02	5.89	2.45	9.82	6.92	4.23	22.07	8.55	6.57	53.63	25.11	20.63
(b)	19.05	13.87	8.73	20.91	13.26	8.83	34.56	17.24	13.00	19.79	22.96	11.89
(c)	13.94	8.77	5.69	18.86	10.96	7.45	30.92	11.87	9.38	61.71	15.41	14.06
(d)	9.31	28.68	7.56	1.81	4.02	1.26	18.30	18.53	10.14	14.22	29.11	10.56
(e)	7.98	8.02	4.17	6.65	4.18	2.63	27.22	7.56	6.29	24.28	13.18	9.34
(f)	30.32	9.87	8.04	14.93	5.27	4.05	44.47	10.31	9.13	56.52	9.80	9.11
(g)	15.34	53.13	13.51	16.25	53.94	14.27	30.63	55.93	24.68	48.90	38.78	27.60
(h)	11.30	32.00	9.11	15.23	29.01	11.10	25.82	31.65	16.58	27.26	35.40	18.20
a1	28.84	4.77	4.26	25.82	4.07	3.64	45.70	5.66	5.30	38.73	10.36	8.90
a2	15.46	17.83	9.03	4.15	17.35	3.47	24.53	16.79	11.07	50.39	16.41	14.13
a3	38.36	35.34	22.54	34.94	40.53	23.10	57.46	40.24	31.00	41.39	37.46	24.47
b1	18.86	8.76	6.36	24.42	9.68	7.45	33.90	12.02	9.74	80.42	28.87	26.97
b2	19.13	81.84	18.35	17.48	80.47	16.77	32.01	79.65	29.59	44.78	57.72	33.72
b3	9.05	25.65	7.17	0.87	4.19	0.73	13.21	22.84	9.13	25.74	16.22	11.05
d1	2.15	12.94	1.88	2.79	7.66	2.09	10.41	17.04	6.91	16.07	20.16	9.82
d2	17.72	40.26	14.03	3.06	15.66	2.63	14.99	26.70	10.62	57.01	31.68	25.57
d3	40.18	17.52	13.89	26.40	31.22	16.69	43.99	26.07	19.58	33.24	33.64	20.08
e1	23.39	23.55	13.29	19.21	20.23	10.93	24.93	23.20	13.66	60.06	44.79	34.51
e2	16.67	4.82	3.88	18.89	6.17	4.88	29.31	7.27	6.19	21.14	11.26	7.93
e3	23.39	23.55	13.29	19.21	20.23	10.93	24.93	23.20	13.66	60.06	44.79	34.51
e4	26.64	11.45	8.70	21.28	7.58	5.92	42.14	10.75	9.37	57.59	12.25	11.24
e5	4.02	29.52	3.67	5.17	16.46	4.10	23.84	27.79	14.72	30.15	36.72	19.84
f1	8.13	19.57	6.09	4.74	16.41	3.82	16.17	20.26	9.88	12.53	18.06	7.99
f2	35.22	17.01	12.96	23.86	13.99	9.67	52.93	14.46	12.81	41.92	16.83	13.65
f3	13.64	18.28	8.47	11.18	23.02	8.14	22.89	22.69	12.86	30.32	23.39	15.21
g1	13.36	45.54	11.52	13.75	41.74	11.54	19.73	46.14	16.04	25.20	63.31	21.99
g2	1.55	23.64	1.48	7.91	39.33	7.05	14.53	46.30	12.43	12.63	25.55	9.23
g3	22.03	35.28	15.69	9.78	54.88	9.06	16.39	53.06	14.31	20.08	48.12	16.51
h1	13.02	40.48	10.93	11.25	37.72	9.49	19.08	38.21	14.58	33.78	68.22	29.19
h2	11.74	54.45	10.69	11.43	42.41	9.90	33.44	50.81	25.26	61.62	71.07	49.26
Avg^d	17.13	25.08	9.25	14.07	22.62	7.86	28.35	26.43	13.48	38.71	30.89	18.91

No.	True Distance $D_{T r u e}$ (m)	Calculated Distance $D_{C a l c}$ (m)	Absolute Error $Δ$ (m)	Relative Error $δ$ (%)
1	0.63	0.90	0.27	43.62
2	0.65	0.92	0.27	41.44
3	0.69	0.94	0.25	36.92
4	0.70	0.97	0.27	37.97
5	0.74	0.89	0.15	20.82
6	0.79	1.06	0.27	33.73
7	0.86	1.02	0.16	18.41
8	0.88	1.18	0.30	33.96
9	0.90	1.11	0.21	22.86
10	0.94	1.04	0.10	10.86
11	0.96	1.13	0.17	18.08
12	1.00	0.95	−0.05	−0.05
13	1.02	1.14	0.12	11.45
14	1.02	1.09	0.07	07.09
15	1.09	1.09	0.00	00.41
16	1.14	1.34	0.20	17.34
17	1.15	1.28	0.13	10.95
18	1.23	1.26	0.03	02.24
19	1.34	1.40	0.06	04.70
20	1.40	1.43	0.03	02.04
21	1.53	1.39	−0.14	−9.13
Average	0.98	0.90	0.27	17.41

Defect	No.	Pipe Diameters $D$ (mm)	Experience Value $D_{E X P}$ (m)	Calculated Distance $D_{C a l c}$ (m)	Absolute Errors $Δ$ (m)	Relative Error $δ$ (%)
Erosion	1	400	1.38	1.32	−0.06	−04.10
	2	500	0.39	0.52	0.13	34.03
	3	600	0.75	0.91	0.16	21.21
	4	600	0.83	1.02	0.19	23.16
	5	700	0.98	1.20	0.22	21.91
Leakage	1	500	0.67	0.80	0.13	19.18
	2	500	0.74	0.80	0.06	07.38
	3	600	0.96	1.23	0.27	27.90
	4	600	1.00	1.04	0.04	03.73
	5	700	0.69	0.84	0.15	22.03
	6	700	1.13	1.17	0.04	03.36
	7	700	1.35	1.25	−0.10	−07.57
Joint	1	400	0.53	0.62	0.09	16.67
Offset	2	400	0.58	0.82	0.24	41.33
	3	500	0.64	0.87	0.23	36.47
	4	500	1.03	0.93	−0.10	−09.36
	5	600	0.59	0.83	0.24	39.86
	6	600	0.64	0.82	0.18	27.50
	7	800	0.87	0.82	−0.05	−05.36
	8	800	0.92	1.18	0.26	28.42
	9	800	1.07	1.29	0.22	20.24
	10	800	1.43	1.68	0.25	17.43
Crack	1	400	0.62	0.59	−0.03	−05.65
	2	400	0.80	0.67	−0.13	−16.00
	3	400	0.80	0.64	−0.16	−20.65
	4	400	1.01	0.81	−0.20	−17.62
	5	500	0.66	0.72	0.06	09.35
	6	500	0.67	0.80	0.13	19.43
	7	500	0.70	0.73	0.03	04.29
	8	500	0.71	0.80	0.09	13.60
	9	500	0.73	0.86	0.13	17.62
	10	500	0.77	0.88	0.11	14.36
	11	500	0.87	0.76	−0.11	−12.36
	12	500	0.88	0.87	−0.01	−01.12
	13	500	1.05	1.08	0.03	03.15
	14	500	1.09	1.22	0.13	11.75
	15	500	1.09	0.96	−0.13	−12.03
	16	600	0.59	0.72	0.13	21.69
	17	600	1.46	1.75	0.29	19.86
	18	700	1.11	1.18	0.07	05.82
	19	700	1.91	1.85	−0.06	−02.91
Spalling	1	400	0.53	0.69	0.16	29.28
	2	500	0.51	0.79	0.28	54.25
	3	500	0.52	0.70	0.18	35.46
	4	500	0.67	0.83	0.16	23.76
	5	500	0.69	0.91	0.22	32.42
	6	500	0.72	0.94	0.22	30.61
	7	500	0.75	0.88	0.13	17.19
	8	500	0.82	0.89	0.07	07.94
	9	600	0.55	0.82	0.27	48.21
	10	600	0.65	0.85	0.20	30.05
	11	600	0.78	0.88	0.10	12.73
	12	600	0.80	0.82	0.02	02.42
	13	800	1.83	1.85	0.02	01.30

Parameters	Value
Focal length f/mm	5.1
$f_{x}$ , $f_{y} / p i x e l s$	2040,1545
Principal point ( $u_{o}$ , $v_{o}$ )	(960,540)

Abstract

Data availability

Cited By

Figures (12)

Tables (4)

Equations (20)

Applied Optics