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This paper presents a system for the automatic measurement and modelling of sewer pipes. The system recovers the interior shape of a sewer pipe from a video sequence which is acquired by a fish-eye lens camera moving inside the pipe. The approach is based on tracking interest points across successive video frames and posing the general structure-from-motion problem. It is shown that the tracked points can be reliably reconstructed despite the forward motion of the camera. This is achieved by utilizing a fish-eye lens with a wide field of view.
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