| Author | Titel | Jahr | Typ | MRT-Nr | DOI/URL |
|---|---|---|---|---|---|
| Baetz, W., Kroll, A. & Soldan, S. | On Gas Leak Detection of Pressurised Components by Using Thermograms and Pattern Recognition Algorithms | 2010 | URL | ||
| Abstract: Detection of leaks in pressurized components such as above-ground pipes, vessels, instruments, fittings and machinery is of high relevance for plant operating authorities and utility companies in order to prevent harm to humans, nature and assets or just to prevent financial losses. Especially for gaseous fluids, remotely applicable infrared (IR) spectroscopical detection methods can be applied to scan the environment of the pressurised components for escaped gas. Spectroscopic methods fail if the spectral fingerprint of the fluid is unknown or not distinguishable in the chosen IR window of the atmosphere. Moreover, leaks in pressurised or liquid air leading components cannot be detected spectroscopically. In such cases, the application of passive IR thermography is proposed to permit remote leak detection by assessing the resulting temperature profile disturbance due to the cooling effect of expanding gas. This effect is not limited to pressurised air but can be used for any gaseous fluid. The thermal effect is tiny and the disturbances e.g. due to reflections of natural and artificial IR emitters and due to varying surface and material properties (heat conduction, emissivity, reflectivity,...) in the optical infrared spectral region make it difficult to interpret the interferogram by the human operator to identify a leak. In this contribution, methods for an automatic analysis of thermograms with respect to the presence of leaks by using pattern matching algorithms are presented. For this purpose, a dedicated test stand was build. The results of extensive leakage measurement campaigns with different materials (incl. ordinary and stainless steel), various pressurized components (incl. pipes, valves, flanges, manometers) and of different measurement set-ups (measurement angle, disturbing emitters, pressure difference, ...) will be presented. Pressurised air was used as test gas due to its simple handling. Different pattern matching algorithms that use the concept of a matching filter will be introduced and first results comparing their classification performance will be recorded. It will be shown, that under laboratory conditions, an extended range of leakages can be reliably detected. | |||||
BibTeX:
@inproceedings{
Baetz_NDE2010,
author = {Werner Baetz AND Andreas Kroll AND Samuel Soldan}
, title = {On Gas Leak Detection of Pressurised Components by Using Thermograms and Pattern Recognition Algorithms}
, booktitle = {Proc. 8th Int. Conf. on NDE in Relation to Structural Integrity for Nuclear and Pressurised Components}
, publisher = {European Commission, Joint Research Center, Institute for Energy}
, year = {2010}
, pages = {503-512}
, address = {Berlin, Germany}
, note = {DGZfP-Proceedings BB 125-CD}
, url = {http://www.8thnde.com/Programme/Session.aspx?id=8B4185CE-336B-4725-A598-31A1F23F9DA1}
, isbn = {978-92-79-20321-3}
, language = {english}
}
| |||||
| Rangel González, J.H., Soldan, S. & Kroll, A. | 3D Thermal Imaging: Fusion of Thermography and Depth Cameras [BibTeX] |
2014 | URL | ||
BibTeX:
@inproceedings{
2014-QIRT_JR,
author = {Rangel González, Johannes Havid and Soldan, Samuel and Kroll, Andreas}
, title = {3D Thermal Imaging: Fusion of Thermography and Depth Cameras}
, booktitle = {12th International Conference for Quantitative InfraRed Thermography (QIRT 2014)}
, year = {2014}
, address = {Bordeaux, France}
, url = {http://qirt2014.scientific-event.com/}
}
| |||||
| Schramm, S., Ebert, J., Rangel, J., Schmoll, R. & Kroll, A. | Iterative feature detection of a coded checkerboard target for the geometric calibration of infrared cameras [BibTeX] |
2021 | DOI URL | ||
BibTeX:
@article{
Schramm2021JSSS,
author = {Sebastian Schramm and Jannik Ebert and Johannes Rangel and Robert Schmoll and Andreas Kroll}
, title = {Iterative feature detection of a coded checkerboard target for the geometric calibration of infrared cameras}
, journal = {Journal of Sensors and Sensor Systems (JSSS)}
, year = {2021}
, volume = {10}
, pages = {207--218}
, url = {https://jsss.copernicus.org/articles/10/207/2021/}
, doi = {http://dx.doi.org/10.5194/jsss-10-207-2021}
}
| |||||
| Schramm, S., Osterhold, P., Schmoll, R. & Kroll, A. | Combining Modern 3D Reconstruction and Thermal Imaging: Generation of Large-Scale 3D Thermograms in Real-Time [BibTeX] |
2021 | DOI | ||
BibTeX:
@inproceedings{
Schramm2021QIRT,
author = {Schramm, Sebastian and Osterhold, Phil and Schmoll, Robert and Kroll, Andreas}
, title = {Combining Modern 3D Reconstruction and Thermal Imaging: Generation of Large-Scale 3D Thermograms in Real-Time}
, booktitle = {Quantitative InfraRed Thermography Journal}
, year = {2021}
, doi = {http://dx.doi.org/10.1080/17686733.2021.1991746}
}
| |||||
| Schramm, S., Osterhold, P., Schmoll, R. & Kroll, A. | Generation of Large-Scale 3D Thermograms in Real-Time Using Depth and Infrared Cameras [BibTeX] |
2020 | DOI URL | ||
BibTeX:
@inproceedings{
SS_QIRT2020,
author = {Schramm, Sebastian and Osterhold, Phil and Schmoll, Robert and Kroll, Andreas}
, title = {Generation of Large-Scale 3D Thermograms in Real-Time Using Depth and Infrared Cameras}
, booktitle = {15th Quantitative InfraRed Thermography Conference (QIRT)}
, year = {2020}
, address = {Porto, Portugal}
, url = {http://qirt.org/archives/qirt2020/papers/008.pdf}
, doi = {http://dx.doi.org/10.21611/qirt.2020.008}
, language = {english}
}
| |||||
| Schramm, S., Rangel, J., Aguirre Salazar, D., Schmoll, R. & Kroll, A. | Target Analysis for the Multispectral Geometric Calibration of Cameras in Visual and Infrared Spectral Range [BibTeX] |
2021 | DOI URL | ||
BibTeX:
@article{
SchrammRangel2021,
author = {Schramm, Sebastian and Rangel, Johannes and Aguirre Salazar, Daniela and Schmoll, Robert and Kroll, Andreas}
, title = {Target Analysis for the Multispectral Geometric Calibration of Cameras in Visual and Infrared Spectral Range}
, journal = {IEEE Sensors}
, year = {2021}
, volume = {21}
, number = {2}
, pages = {2159-2168}
, url = {https://ieeexplore.ieee.org/document/9178752}
, doi = {http://dx.doi.org/10.1109/JSEN.2020.3019959}
}
| |||||
| Schramm, S., Rangel, J. & Kroll, A. | Data Fusion for 3D Thermal Imaging Using Depth and Stereo Camera for Robust Self-localization [BibTeX] |
2018 | DOI URL | ||
BibTeX:
@inproceedings{
SS_SAS2018,
author = {Sebastian Schramm and Johannes Rangel and Andreas Kroll}
, title = {Data Fusion for 3D Thermal Imaging Using Depth and Stereo Camera for Robust Self-localization}
, booktitle = {IEEE Sensors Applications Symposium (SAS)}
, year = {2018}
, address = {Seoul, Korea}
, url = {https://ieeexplore.ieee.org/document/8336740/}
, doi = {https://doi.org/10.1109/SAS.2018.8336740}
, language = {english}
}
| |||||
| Schramm, S., Schmoll, R. & Kroll, A. | Compensation of the Size-of-Source Effect of Infrared Cameras Using Image Processing Methods [BibTeX] |
2019 | DOI URL | ||
BibTeX:
@inproceedings{
SS_ICST2019,
author = {Sebastian Schramm and Robert Schmoll and Andreas Kroll}
, title = {Compensation of the Size-of-Source Effect of Infrared Cameras Using Image Processing Methods}
, booktitle = {13th International Conference on Sensing Technology (ICST)}
, year = {2019}
, address = {Sydney, Australia}
, url = {https://ieeexplore.ieee.org/document/9047669}
, doi = {http://dx.doi.org/10.1109/ICST46873.2019.9047669}
, language = {english}
}
| |||||
| Soldan, S. | On Extended Depth of Field to Improve the Quality of Automated Thermographic Measurements in Unknown Environments | 2012 | URL | ||
| Abstract: Focusing is essential for the quality of thermal imaging. But due to physical constraints only a small distance area around the focal distance, called the depth of field (DOF), appears acceptably sharp in a single thermogram. For scenes containing multiple objects at different distances from the camera or one along the optical axis outstretched object it is hard to have all parts of the image sharp within one measurement. This is impossible if the distance between the closest and the furthest region is larger than the depth of field. This work describes a solution to get an all-in-focus measurement by taking a measurement series with changed focal settings and combining the sharp parts using digital image processing. Different possibilities for this process are discussed and examples are given. | |||||
BibTeX:
@inproceedings{
soldan_qirt,
author = {Samuel Soldan}
, title = {On Extended Depth of Field to Improve the Quality of Automated Thermographic Measurements in Unknown Environments}
, booktitle = {Proceedings of 11th International Conference on Quantitative InfraRed Thermography (QIRT)}
, year = {2012}
, address = {Naples, Italy}
, note = {Best Student Paper Award}
, url = {http://www.qirt2012.unina.it}
, isbn = {978-88-906484-4-1}
, language = {english}
}
| |||||
| Soldan, S. | On extended depth of field to improve the quality of automated thermographic measurements in unknown environments | 2012 | DOI URL | ||
| Abstract: Focusing is essential for the quality of thermal imaging. But due to physical constraints, only a small distance area around the focal distance, called the depth of field (DOF), appears acceptably sharp in a single thermogram. For scenes containing multiple objects at different distances from the camera or one along the optical axis outstretched object, it is hard to have all parts of the image sharp within one measurement. This is impossible if the distance between the closest and the farthest region is larger than the DOF. This work describes a solution to get an all-in-focus measurement that works by taking a measurement series with different focal settings and combining the sharp parts using digital image processing. Different possibilities for this process are discussed and examples are given. | |||||
BibTeX:
@article{
2012_QIRTJ,
author = {Samuel Soldan}
, title = {On extended depth of field to improve the quality of automated thermographic measurements in unknown environments}
, journal = {Quantitative InfraRed Thermography Journal}
, year = {2012}
, volume = {9}
, number = {2}
, pages = {135-150}
, url = {http://www.tandfonline.com/eprint/ExMpXXVKMsdiXZyF28Cr/full}
, doi = {http://dx.doi.org/10.1080/17686733.2012.738110}
, language = {english}
}
| |||||
| Soldan, S., Bonow, G. & Kroll, A. | Auswahl und Aufbau eines Multisensor-Fernmesssystems zur Fluidleckerkennung für den Einsatz auf einem mobilen Industrie-Inspektionsroboter | 2012 | DOI URL | ||
| Abstract: Eine regelmäßige und sorgfältige Inspektion von druckführenden Komponenten in Industrieanlagen (z. B. Mineralölraffinerien oder Chemieanlagen) ermöglicht ein frühzeitiges Erkennen von möglichen Störungen und Defekten und gewährleistet dadurch eine Betriebssicherheit auf hohem Niveau. Routineinspektionen werden oft nur mit einfachen lokal messenden Gasmessgeräten durchgeführt und sind durch wechselnde Inspekteure und Schichtarbeit personen- und tagesformabhängig. Dabei ist die Inspektionstätigkeit zumeist monoton und ermüdend. Die hohen Anschaffungskosten, die notwendige umfangreiche Einarbeitung in die Bedienung, die niedrige Auslastung bei manueller Verwendung sowie das schwer quantifizierbare Einsparungspotential schrecken oft von der Beschaffung von Fernmessgeräten ab. Ziel des Projektes RoboGasInspector ist die Entwicklung eines mobilen, mit infrarotoptischer Fernmesstechnik ausgestatteten professionellen Service-Roboters für die Routineinspektion von Industrieanlagen. Durch den Einsatz auf einem Roboter kann die Messtechnik voll ausgelastet werden, da dieser rund um die Uhr im Betrieb sein kann. Der Mensch wird von eintöniger Arbeit entlastet und das Fachpersonal steht für anspruchsvollere Aufgaben zur Verfügung. Die Reproduzierbarkeit der Ergebnisse wird verbessert und lässt zudem eine präzisere Differentialdiagnose mit historischen Daten zu; dadurch kann auch der Schädigungsverlauf dokumentiert werden. Durch die Verwendung von Messgeräten mit verschiedenen Messprinzipien kann eine Leckhypothese abgesichert und die Wahrscheinlichkeit von Falschalarmen reduziert werden. Die Interoperabilität der verschiedenen Messgeräte und deren modularer, mechanischer und elektrischer, spritzwassergeschützter Aufbau auf einer mobilen Roboterplattform wird in diesem Beitrag diskutiert und mit praktischen Erfahrungen zur Leistungsfähigkeit des Systems abgerundet. Dazu wurde ein modulares Messsystem entworfen, prototypisch realisiert und im Labor getestet. Das System verfügt über eigene Rechenkapazität und fasst die unterschiedlichen Schnittstellen sowie die Messdatenerfassung der Messgeräte zusammen. Dies vereinfacht somit die Verwendung des Systems auf verschiedenen Roboterplattformen. | |||||
BibTeX:
@inproceedings{
sensor+test2012,
author = {Samuel Soldan and Gero Bonow and Andreas Kroll}
, title = {Auswahl und Aufbau eines Multisensor-Fernmesssystems zur Fluidleckerkennung für den Einsatz auf einem mobilen Industrie-Inspektionsroboter}
, booktitle = {16. GMA/ITG Fachtagung Sensoren und Messsysteme 2012}
, publisher = {AMA Service GmbH}
, year = {2012}
, pages = {126-135}
, address = {Nürnberg, Germany}
, url = {http://www.sensoren2012.de/}
, doi = {http://dx.doi.org/10.5162/sensoren2012/1.4.2}
, isbn = {978-3-9813484-0-8}
}
| |||||
| Soldan, S., Bonow, G. & Kroll, A. | RoboGasInspector -- A Mobile Robotic System for Remote Leak Sensing and Localization in Large Industrial Environments: Overview and First Results | 2012 | URL | ||
| Abstract: In order to automate the routine inspections in large industrial environments a mobile robotic system is being developed in the project RoboGasInspector. The robot's sensor-head consists of different instruments for remote sensing using multiple measurement principles. First results show that passive IRthermographic imaging can be used to detect leaks in pipes as well as liquid spills on the ground. The measurable effects are the temperature profile disturbance due to expansion of pressured gas and evaporative cooling, respectively. Tunable Diode Laser Absorption Spectroscopy (TDLAS) measurement systems provide for quantitative gas concentration measurements and feature a high sensitivity due to the active measurement principle. On the contrary, TDLAS systems measure just the concentration along a path at a time and require a diffusely reflecting background. Using a Pan-Tilt Unit, objects/areas can be scanned and discrete maps of the gas concentration can be created. This contribution introduces the project RoboGasInspector and presents the used measurement technology as well as first results | |||||
BibTeX:
@inproceedings{
ifac-oilfield_2012,
author = {Samuel Soldan and Gero Bonow and Andreas Kroll}
, title = {RoboGasInspector -- A Mobile Robotic System for Remote Leak Sensing and Localization in Large Industrial Environments: Overview and First Results}
, booktitle = {Proceedings of the 2012 IFAC Workshop on Automatic Control in Offshore Oil and Gas Production}
, year = {2012}
, pages = {33-38}
, address = {Norwegian University of Science and Technology, Trondheim, Norway,}
, url = {http://www.ifac-oilfield.no/}
}
| |||||
| Soldan, S. & Kroll, A. | Towards Automated Gas Leak Detection Using IR Gas Imaging Cameras | 2013 | URL | ||
| Abstract: Optical IR cameras for gas visualization/imaging have gained acceptance and popularity in the past years. With these devices the scene is displayed as a thermal image while the gas is visible as hot/cold haze. As this is an imaging technique the operator can easily inspect large areas and detect and pinpoint leaks. The interpretation and analysis of the data is however still being carried out manually with little assistance from the camera. This article briefly presents the measurement method, discusses identifiable characteristics of gas clouds and the necessary steps for automating the image processing of the recorded measurement sequences. | |||||
BibTeX:
@inproceedings{
Soldan_2013_AITA,
author = {Samuel Soldan and Andreas Kroll}
, title = {Towards Automated Gas Leak Detection Using IR Gas Imaging Cameras}
, booktitle = {AITA 2013 -- Advanced Infrared Technology and Applications}
, year = {2013}
, pages = {195-199}
, address = {Turin -- Italy}
, url = {http://ronchi.isti.cnr.it/AITA2013}
}
| |||||
| Soldan, S., Ouellet, D., Hedayati, P., Bendada, H., Laurendeau, D. & Kroll, A. | Mapping Non-Destructive Testing Data on the 3D Geometry of Objects with Complex Shapes [BibTeX] |
2014 | URL | ||
BibTeX:
@inproceedings{
2014-QIRT_Ulaval,
author = {Samuel Soldan and Denis Ouellet and Peyman Hedayati and Hakim Bendada and Denis Laurendeau and Andreas Kroll}
, title = {Mapping Non-Destructive Testing Data on the 3D Geometry of Objects with Complex Shapes}
, booktitle = {12th International Conference for Quantitative InfraRed Thermography (QIRT 2014)}
, year = {2014}
, address = {Bordeaux, France}
, url = {http://qirt2014.scientific-event.com/}
}
| |||||
| Soldan, S., Rangel, J. & Kroll, A. | An Overview of Calibration Boards for the Geometric Calibration of Thermal Cameras | 2011 | URL | ||
| Abstract: In data fusion of imaging sources the knowledge about the intrinsic and extrinsic parameters of the camera is essential to avoid correspondence problems (i.e. matching up the corresponding points of two images acquired with some displacement disparity). A common way to determine these parameters is the use of a calibration board with known characteristics that is placed at different orientations in front of the camera. For normal cameras in the visible spectrum simple planar patterns in black and white color (like chessboards or dots in a grid arrangement) have been used as test fields with great success. For thermal cameras however these calibration targets don't work due to the even thermal distribution. This poster is motivated by an inspection task in an unknown environment where the fusion of data from a thermography camera, a normal camera and a laser range finder is desired. The correspondence problem is stated and a structured overview of different calibration boards that have been used for geometric calibration of thermography cameras in literature is presented. All these solutions seem to be unnecessarily complicated for a one-time calibration. Therefore own ideas and experimental results with a simple and cheap calibration board that provides sufficient accuracy are provided. | |||||
BibTeX:
@inproceedings{
INFRAR&D_2011,
author = {Samuel Soldan and Johannes Rangel and Andreas Kroll}
, title = {An Overview of Calibration Boards for the Geometric Calibration of Thermal Cameras}
, booktitle = {InfraR&D 2011 Proceedings Volume 6}
, year = {2011}
, pages = {79-83}
, address = {Hannover, Germany}
, url = {http://www.infrarottraining.de/infra/}
}
| |||||
| Soldan, S., Welle, J., Barz, T., Kroll, A. & Schulz, D. | Towards Autonomous Robotic Systems for Remote Gas Leak Detection and Localization in Industrial Environments | 2012 | DOI URL | ||
| Abstract: Detection and localization of escaped hazardous gases is of great industrial and public interest in order to prevent harm to humans, nature and assets or just to prevent financial losses. The development of novel leak-detection technologies will yield better coverage of inspected objects while helping to lower plant operation costs at the same time. Moreover, inspection personnel can be relieved from repetitive work and focus on value-adding supervisory control and optimization tasks. The proposed system consists of autonomous mobile inspection robots that are equipped with several remote gas sensing devices and local intelligence. Chain-driven all-terrain robots are used that can handle slopes, unpaved routes and offer maneuverability in restricted spaces as required for inspecting plants such as petroleum refineries, tank farms or chemical sites. The robots can detect and locate gas leaks autonomously to a great extent using infrared optical spectroscopic and thermal remote sensing techniques and data processing. This article gives an overview of the components of the robotic system prototype, i.e. the robotic platform and the remote sensing and evaluation module. The software architecture, including the robot middleware and the measurement routines, are described. Results from testing autonomous mobility and object inspection functions in a large test course are presented. | |||||
BibTeX:
@inproceedings{
2012-fsr,
author = {Samuel Soldan and Jochen Welle and Thomas Barz and Andreas Kroll and Dirk Schulz}
, title = {Towards Autonomous Robotic Systems for Remote Gas Leak Detection and Localization in Industrial Environments}
, booktitle = {Field and Service Robotics Results of the 8th International Conference}
, publisher = {Springer Berlin Heidelberg}
, year = {2012}
, volume = {92}
, pages = {233-247}
, address = {Matsushima, Japan}
, url = {http://link.springer.com/chapter/10.1007/978-3-642-40686-7_16}
, doi = {http://dx.doi.org/10.1007/978-3-642-40686-7_16}
, isbn = {978-3-642-40685-0}
}
| |||||
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