MORE | Summer 2022

Development of In-Line Inspection (ILI) Robot for Pipeline Using Structural Health Monitoring Using Computer Vision and Deep Learning Techniques

Through this study, a novel in-line inspection robot for the detection of defects in gas pipelines is proposed, which would help in automating the structural health monitoring process. With the help of sensor fusion techniques, it is expected that the uncertainty in the pose estimate of the robot reduces, which would facilitate 3D reconstruction of the pipe over longer lengths. Future work for this study will be in the direction of implementing sensor fusion using LIDAR, stepper motor rotary encoder, wheel encoder, stereo camera and Inertial Measurement Unit (IMU).