Description: Sensors, Vol. 18, Pages 1385: Geometric Integration of Hybrid Correspondences for RGB-D Unidirectional Tracking Sensors doi: 10.3390/s18051385 Authors: Shengjun Tang Wu Chen Weixi Wang Xiaoming Li Walid Darwish Wenbin Li Zhengdong Huang Han Hu Renzhong Guo Traditionally, visual-based RGB-D SLAM systems only use correspondences with valid depth values for camera tracking, thus ignoring the regions without 3D information. Due to the strict limitation on measurement distance and view angle, such systems adopt only short-range constraints which may introduce larger drift errors during long-distance unidirectional tracking. In this paper, we propose a novel geometric integration method that makes use of both 2D and 3D correspondences for RGB-D tracking. Our method handles the problem by exploring visual features both when depth information is available and when it is unknown. The system comprises two parts: coarse pose tracking with 3D correspondences, and geometric integration with hybrid correspondences. First, the coarse pose tracking generates the initial camera pose using 3D correspondences with frame-by-frame registration. The initial camera poses are then used as inputs for the geometric integration model, along with 3D correspondences, 2D-3D correspondences and 2D correspondences identified from frame pairs. The initial 3D location of the correspondence is determined in two ways, from depth image and by using the initial poses to triangulate. The model improves the camera poses and decreases drift error during long-distance RGB-D tracking iteratively. Experiments were conducted using data sequences collected by commercial Structure Sensors. The results verify that the geometric integration of hybrid correspondences effectively decreases the drift error and improves mapping accuracy. Furthermore, the model enables a comparative and synergistic use of datasets, including both 2D and 3D features.

Description: To meet the great needs for MFL (magnetic flux leakage) inspection of drill pipes at wellheads, a lift-off-tolerant MFL testing method is proposed and investigated in this paper. Firstly, a Helmholtz coil magnetization method and the whole MFL testing scheme are proposed. Then, based on the magnetic field focusing effect of ferrite cores, a lift-off-tolerant MFL sensor is developed and tested. It shows high sensitivity at a lift-off distance of 5.0 mm. Further, the follow-up high repeatability MFL probing system is designed and manufactured, which was embedded with the developed sensors. It can track the swing movement of drill pipes and allow the pipe ends to pass smoothly. Finally, the developed system is employed in a drilling field for drill pipe inspection. Test results show that the proposed method can fulfill the requirements for drill pipe inspection at wellheads, which is of great importance in drill pipe safety.