Inspection methods for small bore pipes

Graeme West (Inventor), Colin Forrester (Inventor), Dayi ZHANG (Inventor), Gordon Dobie (Inventor)

Research output: Patent

16 Downloads (Pure)


A novel video inspection method for an interior surface of a small diameter pipe may include the steps of advancing a videoscope through the pipe of known size while acquiring raw images therefrom; estimating the video camera pose for at least some of the raw images; sequentially building a pipe point cloud, a mesh, and a 3D textured model of the interior surface of the pipe from the raw images with adjustments for video camera poses; unwrapping the raw images using camera poses and the pipe point cloud to create unwrapped images of the interior surface of the pipe; and creating a panoramic image of the interior surface of the pipe by stitching the unwrapped images together. The method improves on a conventional Structure-from-Motion technique and allows enhanced sharpness, reduced artifacts, and improved uniformity of lighting as a result of reduced model noise and removal of outliers. The method may be implemented with conventional video borescopes by postprocessing raw images using proprietary software.
Original languageEnglish
Patent numberWO2022172048
IPCG06T 7/00 2017.1,G06T 7/579 2017.1,G06T 7/73 2017.1
Priority date15/02/21
Filing date15/02/21
Publication statusPublished - 18 Aug 2022


  • small diameter pipe
  • video inspection method
  • videoscope
  • 3D textured model
  • panoramic image of the interior surface
  • enhanced sharpness
  • reduced model noise


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