公开(公告)号：WO2022198130A2

公开(公告)日：2022-09-22

申请号：PCT/US2022/021175

申请日：2022-03-21

申请人： SUBTERRA AI INC.

发明人： LEE, Robert Chester

IPC分类号： G01C15/00 ,  F16L55/26 ,  F16L55/48 ,  G01C21/16 ,  G01C21/20 ,  G01M3/00 ,  G01M3/38 ,  G03B37/00 ,  F16L2101/30 ,  G01C21/1656 ,  G03B37/005

摘要： The disclosure relates to a system for mapping a confined space. The system includes a mapping device comprising a camera configured to capture image data depicting a transit of the confined space by the mapping device. The system includes an image processing system comprising a processor and a memory, wherein the processor is configured to execute instructions stored on the memory to perform the operations of processing the image data to determine a first set of locations of the mapping device as it transits the confined space; and processing the image data to determine a second set of locations of one or more features or one or more defects associated with the confined space.