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Proceedings of the 2003 IEEE International Conference 0. Robotics Automation Taipei, Taiwan, September 14.19, 2003 Experiments using a Laser-based Transducer and Automated Analysis Techniques for Pipe Inspection Olga Duran, Kaspar Althoefer and L a h a l D. Seneviratne email :{olga.duran,k,althoefer,la~al.seneviratne/@kcl.ac.uk Depamnent of Mechanical Engineering Kings College London Strand, London WCZR 2LS, United Kingdom Absmcr - This paper presents the experimental results of an ent approach using a laser spot array instead of a light ring automated sensor system fur the inspection of tubular struc- [ll].As the platForm moves through the pipe, the succession tures. The method is applied to the autonomous inspection of of profile measurements allows the creation of a surface map Sewers overcoming the drawbacks of standard CCTV-based of the inner pipe wall. Geometrical changes of the pipe sur- inspection systems. The transducer consists of B low-cost laser- face can be retrieved from the changes in the position of the based profier attached to B standard CCTV camera. Image analysis techniques and artificial neural networks are used to ring on the acquired image using the principle of triangula- automatically locate and classify the defects in the pipe using the tion [l]. intensity distribution in the acquired camera images. A wide Bes