	US 11,719,646 B1
	Pipe mapping systems and methods
Mark S. Olsson, La Jolla, CA (US); and David A. Cox, San Diego, CA (US)
Assigned to SEESCAN, INC., San Diego, CA (US)
Filed by SeeScan, Inc., San Diego, CA (US)
Filed on Nov. 8, 2021, as Appl. No. 17/521,758.
Application 17/521,758 is a continuation of application No. 16/570,836, filed on Sep. 13, 2019, granted, now 11,175,235.
Application 16/570,836 is a continuation of application No. 14/709,301, filed on May 11, 2015, abandoned.
Application 14/709,301 is a continuation of application No. 14/034,293, filed on Sep. 23, 2013, granted, now 9,041,794, issued on May 26, 2015.
Application 14/034,293 is a continuation of application No. 11/928,818, filed on Oct. 30, 2007, granted, now 8,547,428, issued on Oct. 1, 2013.
Claims priority of provisional application 60/864,104, filed on Nov. 2, 2006.
This patent is subject to a terminal disclaimer.
Int. Cl. G01N 21/88 (2006.01); G06T 7/00 (2017.01); H04N 7/18 (2006.01); G06T 15/04 (2011.01); G06T 17/05 (2011.01); G03B 37/00 (2021.01); G01C 15/00 (2006.01); H04N 23/60 (2023.01); H04N 23/63 (2023.01); H04N 23/50 (2023.01)

CPC G01N 21/8803 (2013.01) [G01C 15/00 (2013.01); G03B 37/005 (2013.01); G06T 7/0004 (2013.01); G06T 15/04 (2013.01); G06T 17/05 (2013.01); H04N 7/185 (2013.01); H04N 23/60 (2023.01); H04N 23/63 (2023.01); G06T 2207/10016 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30108 (2013.01); H04N 23/555 (2023.01)]

16 Claims

1. A method for mapping pipes under inspection, comprising: generating, from a video inspection camera inserted into a pipe, a plurality of images of the interior of the pipe; determining, based at least in part on the plurality of images, an estimate of a diameter of the pipe in the area of the pipe where the plurality of images are generated, wherein determining the estimate of the diameter of the pipe includes: measuring an apparent velocity and a direction of at least two camera image points: and comparing the apparent velocity and direction of each camera image point to an actual camera velocity measured by a cable-counter and an accelerometer sensor: and storing the determined estimate of the diameter of the pipe in a non-transitory memory.