A GPU based real-time image processing for an axis-symmetrical optical laser triangulation system
2012
An axis-symmetrical optical laser triangulation system was developed by the authors to measure the inner geometry of
long pipes used in the oil industry. It has a special optical configuration able to acquire shape information of the inner
geometry of a section of a pipe from a single image frame. It uses a radial light sheet and conical triangulation to
measure the inner geometry of pipes in cylindrical coordinates. A set of equally spaced images of 1024 x 1024 pixels is
acquired at 50 Hz while the device is moved along the pipe’s axis. The measured geometry is analyzed to identify
defects like corrosion damage. A GPU based processing algorithm has been developed to make the system able to
process these images and display the geometrical/measurement result in real-time. The algorithm implements an adaptive
threshold filter and a light intensity peak search using a graphic processing unit programming architecture (CUDA).
Prior to the parallel algorithms (called kernels) a texture data type is used to remap the image, converting from polar to
Cartesian coordinates, mapping angular and radial values in a 2D pixel data matrix. Radial lines are only scanned in a
limited range (256 pixels) between a minimum and a maximum radius value. The achieved image processing frequency
is about 470 frames per second (FPS) using a notebook equipped with a GTX 285m graphics card.
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