LiDAR-Based 3D Reconstruction for Robotic Pipelines Inspection

Monika Sara Kawka, Lazaros Grammatikopoulos, Lazaros Grammatikopoulos, Ilias Kalisperakis, Christos Stentoumis

2025

Abstract

Robotic platforms have transformed pipe inspection from routine checks into an automatic data-driven process. Such robotic systems often integrate computer vision technology to collect and analyze inspection data in an automated and efficient way and offer additional capabilities such as 3D reconstruction of pipes and precise measurement of deformations (e.g., dents, buckling). This work presents an initial case study of a robotic inspection system equipped with LiDAR and camera sensors capable of performing automatic pipeline inspections. This proof-of-concept study is dedicated to the 3D reconstruction of the pipeline using LiDAR data collected during inspections. Reconstruction accuracy is evaluated by computing the RMSE for pipe surface reconstruction and the deviation from the reference diameter of a single pipe in a controlled laboratory setting. Reconstruction results reach an accuracy higher than 2cm based on computed RMSE and a precision higher than 0.5cm in pipe diameter estimation. The current implementation is limited to the inspection of matte and non-reflective pipes. Still, it offers a straightforward and scalable solution for various industrial sectors. Future work will incorporate camera data to integrate color mapping into the 3D reconstruction model and detect potential defects and deformations in a pipe.

Paper Citation

in Harvard Style

Kawka M., Grammatikopoulos L., Kalisperakis I. and Stentoumis C. (2025). LiDAR-Based 3D Reconstruction for Robotic Pipelines Inspection. In Proceedings of the 11th International Conference on Geographical Information Systems Theory, Applications and Management - Volume 1: GISTAM; ISBN 978-989-758-741-2, SciTePress, pages 195-202. DOI: 10.5220/0013390900003935

in Bibtex Style

@conference{gistam25,
author={Monika Kawka and Lazaros Grammatikopoulos and Ilias Kalisperakis and Christos Stentoumis},
title={LiDAR-Based 3D Reconstruction for Robotic Pipelines Inspection},
booktitle={Proceedings of the 11th International Conference on Geographical Information Systems Theory, Applications and Management - Volume 1: GISTAM},
year={2025},
pages={195-202},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013390900003935},
isbn={978-989-758-741-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Conference on Geographical Information Systems Theory, Applications and Management - Volume 1: GISTAM
TI - LiDAR-Based 3D Reconstruction for Robotic Pipelines Inspection
SN - 978-989-758-741-2
AU - Kawka M.
AU - Grammatikopoulos L.
AU - Kalisperakis I.
AU - Stentoumis C.
PY - 2025
SP - 195
EP - 202
DO - 10.5220/0013390900003935
PB - SciTePress