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This paper is focused on delivering a solution that can scan and reconstructthe 3D profile of a pipeline in real-time using a crawler robot. A structuredinfrared (IR) laser ring projector and a stereo camera system are used togenerate the 3D profile of the pipe as the robot moves inside the pipe. Theproposed stereo system does not require field calibrations and it is notaffected by the lateral movement of the robot, hence capable of producing anaccurate 3D map. The wavelength of the IR light source is chosen to be nonoverlapping with the visible spectrum of the color camera. Hence RGB colorvalues of the depth can be obtained by projecting the 3D map into the colorimage frame. The proposed system is implemented in Robotic Operating System(ROS) producing real-time RGB-D maps with defects. The defect map exploitdifferences in ovality enabling real-time identification of structural defectssuch as surface corrosion in pipe infrastructure. The lab experiments showedthe proposed laser profiling system can detect ovality changes of the pipe withmillimeter level of accuracy and resolution.

Real-Time 3D Profiling with RGB-D Mapping in Pipelines Using Stereo Camera Vision and Structured IR Laser Ring