Sewer pipes are an essential infrastructure in modern society and their proper operation is important for public health. To keep sewer pipes operational as much as possible, periodical inspections... Show moreSewer pipes are an essential infrastructure in modern society and their proper operation is important for public health. To keep sewer pipes operational as much as possible, periodical inspections for defects are performed. Instead of repairing sewer pipes when a problem becomes critical, such inspections allow municipalities to plan maintenance.Sewer pipe inspections are an attractive target for automation. While a potential improvement in terms of assessment quality and processing efficiency is generally promised by automation, in this case we would also decrease the variability which is a current problem. Besides the reasons for automating, the methods for automating are also attractive: a lot of (visual) data has been gathered over the past decades which may be used to train algorithms.This thesis compiles the results of five years of research into the possible automation of sewer pipe inspections with the tools of machine learning and computer vision. In this thesis, three distinct, yet complementary approaches to automating sewer pipe inspections are described:- Image-Based Unsupervised Anomaly Detection- Convolutional Neural Network Classification- Stereovision and Geometry Reconstruction Show less
This work introduces RADIUS, a framework for anomaly detection in sewer pipes using stereovision. The framework employs three-dimensional geometry reconstruction from stereo vision, followed by... Show moreThis work introduces RADIUS, a framework for anomaly detection in sewer pipes using stereovision. The framework employs three-dimensional geometry reconstruction from stereo vision, followed by statistical modeling of the geometry with a generic pipe model. The framework is designed to be compatible with existing workflows for sewer pipe defect detection, as well as to provide opportunities for machine learning implementations in the future. We test the framework on 48 image sets of 26 sewer pipes in different conditions collected in the lab. Of these 48 image sets, 5 could not be properly reconstructed in three dimensions due to insufficient stereo matching. The surface fitting and anomaly detection performed well: a human-graded defect severity score had a moderate, positive Pearson correlation of 0.65 with our calculated anomaly scores, making this a promising approach to automated defect detection in urban drainage. Show less