Rapid 3D reconstruction of constant-diameter straight pipelines via single-view perspective projection

Regular inspections of pipelines are of great significance to ensure their long-term safe and stable operation, and the rapid 3D reconstruction of constant-diameter straight pipelines (CDSP) based on monocular images plays a crucial role in tasks such as positioning and navigation for pipeline inspection drones, as well as defect detection on the pipeline surface. Most of the traditional 3D reconstruction methods for pipelines rely on marked poses or circular contours of end faces, which are complex and difficult to apply, while some existing 3D reconstruction methods based on contour features for pipelines have the disadvantage of slow reconstruction speed. To address the above issues, this paper proposes a rapid 3D reconstruction method for CDSP. This method solves for the spatial pose of the pipeline axis based on the geometric constraints between the projected contour lines and the axis, provided that the radius is known. These constraints are derived from the perspective projection imaging model of the single-view CDSP. Compared with traditional methods, the proposed method improves the reconstruction speed by 99.907% while maintaining similar accuracy.