An in-pipe video detector for inspecting pipes of about 20mm in diameter is introduced. The structure consisting of a small CCD camera and LEDs for illumination is discussed
and the hardware for capturing and displaying images is described as well. With the method of histogram equalization
images captured by the detector are processed to obtain good and useful results
and they can be viewed easily and effectively by operators.
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references
Winfried Hg. A wheeled multijoint robot for autonomous sewer inspection[A]. Proc.IROS[C], 1997: 1687-1692.