Multiple camera imager for inspection of large diameter pipes, chambers or tunnels

An imaging device, comprising:

• a camera housing that arranges an array of four cameras in a predetermined configuration;
• the camera housing comprising:
• a first housing having three sides, each having an aperture therein;
• three cameras disposed within a respective aperture of the first housing, wherein each camera has a viewing axis offset from a viewing axis of an adjacent camera by about 120 degrees;
• a flat, triangular end part that comprises a fourth aperture therein;
• and
• a fourth camera disposed within the fourth aperture and having a viewing axis offset from each viewing axis of the three cameras by about 90 degrees;
• and
• a main housing comprising circuitry that operates the imaging device to capture a plurality of images using the four cameras, wherein the circuitry captures the plurality of images for a composite image of an interior region of underground infrastructure, and wherein the interior region is larger than a field of view of any of the four cameras.

An imaging device, comprising:

• a camera housing that arranges an array of four cameras in a predetermined configuration;
• the camera housing comprising a first housing having four sides arranged in a pyramidal fashion, wherein each of the four sides terminates in a common tip portion, and wherein each of the four sides has an aperture therein;
• four cameras disposed within a respective aperture of the first housing, wherein each camera has a viewing axis offset from a viewing axis of an adjacent camera by about 90 degrees;
• and
• a main housing comprising circuitry that operates the imaging device to capture a plurality of images using the four cameras, wherein the circuitry captures the plurality of images for a composite image of an interior region of underground infrastructure, and wherein the interior region is larger than a field of view of any of the four cameras.

An imaging device, comprising:

• a camera housing that arranges an array of cameras in a predetermined configuration;
• the camera housing comprising a circular housing having twelve apertures therein;
• twelve cameras disposed within a respective aperture of the circular housing, wherein each camera has a viewing axis offset from a viewing axis of an adjacent camera by about 30 degrees;
• and
• circuitry that operates the imaging device to capture a plurality of images using the array of cameras, wherein the circuitry captures the plurality of images for a composite image of an interior region of underground infrastructure, and wherein the interior region is larger than a field of view of any of the cameras individually.

A method, comprising:

• operating an inspection robot to traverse through underground infrastructure;
• capturing, with a camera array of the inspection robot, image data of the interior of the underground infrastructure;
• the camera array comprising four or more cameras each having a viewing axis offset about 30 degrees to about 120 degrees from the viewing axis of an adjacent camera;
• and
• processing, using a processor, the image data to form a composite image of the interior of the underground infrastructure;
• the processing comprising:
• identifying one or more overlapping areas in image data obtained from two or more of the cameras of the array;
• forming the composite image without one or more of the overlapping areas;
• projecting the composite image onto a predetermined shape;
• and
• providing the composite image as a virtual panoramic display.