Image processing techniques for multi-sensor inspection of pipe interiors

A pipe inspection system, comprising:

• a multi-sensor pipe inspection robot that traverses through the interior of a pipe and obtains two or more sets of condition assessment data for the interior of the pipe collected during a single pass through the interior of the pipe;
• the multi-sensor pipe inspection robot comprising a first sensor type and a second sensor type;
• the two or more sets of condition assessment data comprising a first data type obtained using the first sensor type and a second data type obtained using the second sensor type;
• and
• a processor that:
• after a pipe feature has been identified using one or more of the first data type and the second data type, selects an image processing technique based on a pipe feature identified;
• wherein the selected image processing technique modifies an interpolation technique used to process one or more of the first data type and the second data type associated with the feature;
• and
• forms an image of the interior of the pipe by implementing the selected image processing technique.

A method, comprising:

• obtaining, from a multi-sensor pipe inspection robot that traverses through the interior of a pipe, structured laser light sensor data and Light Detection and Ranging (LIDAR) sensor data for the interior of the pipe;
• identifying, using a processor, a pipe feature using one or more of the structured laser light sensor data and the LIDAR sensor data;
• after a pipe feature has been identified using one or more of the first data type and the second data type, selecting, using a processor, an image processing technique based on the pipe feature identified, wherein the selecting uses a stored association between the pipe feature and an image processing technique;
• wherein the selected image processing technique modifies an interpolation technique used to process one or more of the first data type and the second data type associated with the feature;
• and
• forming, using the processor, an image of the interior of the pipe by implementing the selected image processing technique.