# Rotary Panoramic and Full-Depth-of-Field Imaging System for Pipeline Inspection

## TL;DR

This paper introduces a new imaging system for inspecting irregular pipelines, offering high-quality, full-depth-of-field images with improved clarity and faster performance.

## Contribution

A novel radial rotating full-depth-of-field imaging system for adaptive pipeline inspection is proposed.

## Key findings

- The system achieves 360° multi-view imaging with a depth range of 300–960 mm.
- Fused image clarity improves by 75.3% compared to single-frame imaging, with SNR and PSNR of 6.9 dB and 26.3 dB, respectively.
- The system outperforms existing CCTV and in-pipeline imaging techniques in integration and adaptability.

## Abstract

To address the adaptability and insufficient imaging quality of conventional in-pipe imaging techniques for irregular pipelines or unstructured scenes, this study proposes a novel radial rotating full-depth-of-field focusing imaging system designed to adapt to the structural complexities of irregular pipelines, which can effectively acquire tiny details with a depth of 300–960 mm inside the pipeline. Firstly, a fast full-depth-of-field imaging method driven by depth features is proposed. Secondly, a full-depth rotating imaging apparatus is developed, incorporating a zoom camera, a miniature servo rotation mechanism, and a control system, enabling 360° multi-view angles and full-depth-of-field focusing imaging. Finally, full-depth-of-field focusing imaging experiments are carried out for pipelines with depth-varying characteristics. The results demonstrate that the imaging device can acquire depth data of the pipeline interior and rapidly obtain high-definition characterization sequence images of the inner pipeline wall. In the depth-of-field segmentation with multiple view angles, the clarity of the fused image is improved by 75.3% relative to a single frame, and the SNR and PSNR reach 6.9 dB and 26.3 dB, respectively. Compared to existing pipeline closed-circuit television (CCTV) and other in-pipeline imaging techniques, the developed rotating imaging system exhibits high integration, faster imaging capabilities, and adaptive capacity. This system provides an adaptive imaging solution for detecting defects on the inner surfaces of irregular pipelines, offering significant potential for practical applications in pipeline inspection and maintenance.