Visual inspection system for manhole facilities

摘要

Presents a novel visual robot applied as a visual inspection system for manhole facilities. The system enables remote inspection from the ground, and makes inspection work both efficient and safe. Furthermore, it draws a facilities plan automatically by digital picture processing and enables the construction of an electronic database of plant records. Basic technologies of the system are highly accurate measurement algorithms with edge location, edge orientation and TV camera calibration.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>