Reconstruction of Sewer Shaft Profiles from Fisheye-Lens Camera Images

  • Sandro Esquivel
  • Reinhard Koch
  • Heino Rehse
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5748)


In this paper we propose a robust image and sensor based approach for automatic 3d model acquisition of sewer shafts from survey videos captured by a downward-looking fisheye-lens camera while lowering it into the shaft. Our approach is based on Structure from Motion adjusted to the constrained motion and scene, and involves shape recognition in order to obtain the geometry of the scene appropriately. The approach has been implemented and applied successfully to the practical stage as part of a commercial software.


Video Sequence Camera Motion Bundle Adjustment Structure From Motion Sewer Pipe 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Sandro Esquivel
    • 1
  • Reinhard Koch
    • 1
  • Heino Rehse
    • 2
  1. 1.Christian-Albrechts-UniversityKielGermany
  2. 2.IBAK Helmut Hunger GmbH & Co. KGKielGermany

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