.Automation in Construction 8 1999 581–588 Automated detection of surface defects in water and sewer pipes

Automation is gaining momentum in industry, particularly in rehabilitation and inspection works of underground infrastructure facilities. This paper describes a model for automating inspection and identification of surface defects in underground water and sewer pipes. The paper describes the current efforts in identification of surface defects in underground water and sewer mains, and presents an automated system designed to assist infrastructure engineers in diagnosing defects in this class of pipe networks. It describes the general architecture of the system and its basic components, and focuses primarily on four modules designed for automating image acquisition, image processing, feature