Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: 3D Pipe Network Reconstruction Based on Structure from Motion with
  Incremental Conic Shape Detection and Cylindrical Constraint   Pipe inspection is a critical task for many industries and infrastructure of
a city. The 3D information of a pipe can be used for revealing the deformation
of the pipe surface and position of the camera during the inspection. In this
paper, we propose a 3D pipe reconstruction system using sequential images
captured by a monocular endoscopic camera. Our work extends a state-of-the-art
incremental Structure-from-Motion (SfM) method to incorporate prior constraints
given by the target shape into bundle adjustment (BA). Using this constraint,
we can minimize the scale-drift that is the general problem in SfM. Moreover,
our method can reconstruct a pipe network composed of multiple parts including
straight pipes, elbows, and tees. In the experiments, we show that the proposed
system enables more accurate and robust pipe mapping from a monocular camera in
comparison with existing state-of-the-art methods.

12
The categories of this paper are: nucl-th
29
The categories of this paper are: funct-an
0
The categories of this paper are: hep-ph
6
The categories of this paper are: astro-ph
11
The categories of this paper are: hep-lat
32
The categories of this paper are: atom-ph
3
The categories of this paper are: physics
21
The categories of this paper are: adap-org
17
The categories of this paper are: q-fin
25
The categories of this paper are: patt-sol
13
The categories of this paper are: quant-ph
22
The categories of this paper are: chao-dyn
30
The categories of this paper are: q-alg
23
The categories of this paper are: solv-int
24
The categories of this paper are: dg-ga
4
The categories of this paper are: cond-mat