Tracking of a Handheld Ultrasonic Sensor for Corrosion Control on Pipe Segment Surfaces
The article describes a combination of optical 3-d measurement technique and ultrasonic testing for areawide acquisition of wall thickness on piping segments. It serves the purpose to match automatically ultrasonic measurements to their 3-d positions at the examined pipe segment. The sensor, which is normally occluded by hand, is equipped with a cap with a number of attached LEDs. A model based approach is presented to track these LEDs and to visualise the measured wall thickness at a three-dimensional surface. Therefore the model of the cap is fitted to the segmented image data, so that the 3-d position of the ultrasonic sensor can be derived from computed model orientation. Our approach works robustly and can build the basis for further applications in real industrial environments.
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