The assessment of sewer pipe systems is a highly important, but at the same time cumbersome and error-prone task. We introduce an innovative system based on single-shot structured light modules that facilitates the detection and classification of spatial defects like jutting intrusions, spallings, or misaligned joints. This system creates highly accurate 3D measurements with sub-millimeter resolution of pipe surfaces and fuses them into a holistic 3D model. The benefit of such a holistic 3D model is twofold: on the one hand, it facilitates the accurate manual sewer pipe assessment, on the other, it simplifies the detection of defects in downstream automatic systems as it endows the input with highly accurate depth information. In this work, we provide an extensive overview of the system and give valuable insights into our design choices.

翻译：污水管道系统的评估是一项极为重要但同时也繁琐且易出错的任务。我们提出一种基于单次曝光结构光模块的创新系统，该方案可辅助检测和分类空间缺陷，如突出侵入物、剥落或接头错位。该系统能以亚毫米级分辨率生成管道表面的高精度三维测量数据，并将其融合为整体三维模型。这种整体三维模型具有双重优势：一方面，它能辅助人工精确评估污水管道；另一方面，由于为输入数据赋予了高精度深度信息，下游自动系统中的缺陷检测过程得以简化。本文对该系统进行了全面概述，并深入阐述了我们的设计决策依据。