Technical Papers
May 31, 2023

Defect Severity Assessment Model for Sewer Pipeline Based on Automated Pipe Calibration

Publication: Journal of Pipeline Systems Engineering and Practice
Volume 14, Issue 3

Abstract

To address the low-efficiency issue of the manual assessment method for sewer pipe defects, we propose a defect severity assessment model based on automated pipe calibration (DSA-APC), which can provide automated and quantitative assessments. First, the cross-section feature is extracted by automated pipe calibration. A pipe cross-section feature extraction algorithm based on restricted Hough gradient transform (RHGT) is proposed. Then, a fine-defect feature extraction method based on edge detection is proposed to extract the features of pipe defects more finely. Finally, according to the assessment standards of the sewer pipe defect, a defect severity assessment table is constructed, and the area ratio of the defect feature and cross-section feature is used to evaluate the severity. Experiments are carried out on the Songbai data set and Level-sewer10 data set. The average absolute deviation of the DSA-APC model is 2.008%, and the average accuracy is 86.73%. The experimental results show that the DSA-APC model can correctly evaluate the severity level of sewer pipe defects, which has a good practical application value.

Practical Applications

A defect severity assessment model is proposed to provide automated and quantitative assessments of the severity of sewer pipeline defects. The model uses deep learning and image processing methods to process the video and images collected from investigation robots to obtain assessment results for each pipeline. Experimenting on a real data set, the model achieved an evaluation accuracy of 86.73%. The model can automatically evaluate the defect level of the pipeline and achieve a competitive performance compared with manual evaluation. The technologies chosen for the model are practical and have been appropriately adapted and improved for the actual sewer pipeline systems, making the model both efficient and practical. The pipeline maintenance manager is able to use the model to assess and analyze the health condition of the pipeline system and develop appropriate repair plans for pipeline system problems. Although this study is specific to sewer pipeline assessment, its findings have implications for all other pipeline systems. As a new attempt, our assessment model of pipelines from a visual perspective is simple and efficient. We think that our model will have many practical applications in the field of pipeline systems.

Get full access to this article

View all available purchase options and get full access to this article.

Data Availability Statement

Some or all data, models, or code that support the findings of this study are available from the corresponding author upon reasonable request, including Python code (.py format) of the proposed model, and pipe defect data sets.

Acknowledgments

This work was supported by the Scientific and Technology Program Funded by Xi’an City (Program No. 2020KJRC0069). The contents of this paper reflect the views of the authors, who are responsible for the facts and accuracy of the data presented herein. The contents do not necessarily reflect the official views or policies of the Scientific and Technology Program at the time of publication.

References

Ballard, D. 1981. “Generalizing the Hough transform to detect arbitrary shapes.” Pattern Recognit. 13 (2): 111–122. https://doi.org/10.1016/0031-3203(81)90009-1.
Burges, C. J. C. 1998. “A tutorial on support vector machines for pattern recognition.” Data Min. Knowl. Discovery 2 (2): 121–167. https://doi.org/10.1023/A:1009715923555.
Canny, J. 1986. “A computational approach to edge detection.” IEEE Trans. Pattern Anal. Mach. Intell. 8 (6): 679–698. https://doi.org/10.1109/TPAMI.1986.4767851.
Cervantes, J., F. Garcia-Lamont, L. Rodríguez-Mazahua, and A. Lopez. 2020. “A comprehensive survey on support vector machine classification: Applications, challenges and trends.” Neurocomputing 408 (Sep): 189–215. https://doi.org/10.1016/j.neucom.2019.10.118.
Chen, J., H. Qiang, J. Wu, G. Xu, and Z. Wang. 2021. “Navigation path extraction for greenhouse cucumber-picking robots using the prediction-point Hough transform.” Comput. Electron. Agric. 180 (Jan): 105911. https://doi.org/10.1016/j.compag.2020.105911.
Cheng, J. C., and M. Wang. 2018. “Automated detection of sewer pipe defects in closed-circuit television images using deep learning techniques.” Autom. Constr. 95 (Nov): 155–171. https://doi.org/10.1016/j.autcon.2018.08.006.
Daher, S., T. Zayed, and A. Hawari. 2021. “Defect-based condition assessment model for sewer pipelines using fuzzy hierarchical evidential reasoning.” J. Perform. Constr. Facil. 35 (1): 14. https://doi.org/10.1061/(ASCE)CF.1943-5509.0001554.
Duda, R. O., and P. E. Hart. 1972. “Use of the Hough transformation to detect lines and curves in pictures.” Commun. ACM 15 (1): 11–15. https://doi.org/10.1145/361237.361242.
Guo, W., L. Soibelman, and J. Garrett. 2009. “Automated defect detection for sewer pipeline inspection and condition assessment.” Autom. Constr. 18 (5): 587–596. https://doi.org/10.1016/j.autcon.2008.12.003.
Gutierrez-Mondragon, M. A., D. Garcia-Gasulla, S. Álvarez-Napagao, J. Brossa-Ordoñez, and R. Gimenez-Esteban. 2021. “Obstruction level detection of sewer videos using convolutional neural networks.” Autom. Constr. 10 (4): 135–143. https://doi.org/10.18178/ijscer.10.4.135-143.
Halfawy, M. R., and J. Hengmeechai. 2014a. “Automated defect detection in sewer closed circuit television images using histograms of oriented gradients and support vector machine.” Autom. Constr. 38 (Mar): 1–13. https://doi.org/10.1016/j.autcon.2013.10.012.
Halfawy, M. R., and J. Hengmeechai. 2014b. “Efficient algorithm for crack detection in sewer images from closed-circuit television inspections.” J. Infrastruct. Syst. 20 (2): 04013014. https://doi.org/10.1061/(ASCE)IS.1943-555X.0000161.
Halfawy, M. R., and J. Hengmeechai. 2015. “Integrated vision-based system for automated defect detection in sewer closed circuit television inspection videos.” J. Comput. Civ. Eng. 29 (1): 04014024. https://doi.org/10.1016/j.autcon.2013.10.012.
Haurum, J. B., M. M. J. Allahham, M. S. Lynge, K. S. Henriksen, I. A. Nikolov, and T. B. Moeslund. 2021. “Sewer defect classification using synthetic point clouds.” In Proc., 16th Int. Joint Conf. on Computer Vision, Imaging and Computer Graphics Theory and Applications - VISAPP, INSTICC, 891–900. Lisboa, Portugal: Institute for Systems and Technologies of Information, Control and Communication. https://doi.org/10.5220/0010207908910900.
Hawari, A., M. Alamin, F. Alkadour, M. Elmasry, and T. Zayed. 2018. “Automated defect detection tool for closed circuit television (CCTV) inspected sewer pipelines.” Autom. Constr. 89 (May): 99–109. https://doi.org/10.1016/j.autcon.2018.01.004.
He, M., Q. N. Zhao, H. H. Gao, X. Y. Zhang, and Q. Zhao. 2022. “Image segmentation of a sewer based on deep learning.” Sustainability 14 (11): 6634. https://doi.org/10.3390/su14116634.
Jocher, G., et al. 2020. ultralytics/yolov5: v3.1: Bug fixes and performance improvements. Meyrin, Switzerland: Zenodo. https://doi.org/10.5281/zenodo.3908559.
Kumar, S. S., M. Z. Wang, D. M. Abraham, M. R. Jahanshahi, T. Iseley, and J. C. P. Cheng. 2020. “Deep learning-based automated detection of sewer defects in CCTV videos.” J. Comput. Civil Eng. 34 (1): 13. https://doi.org/10.1061/(ASCE)CP.1943-5487.0000866.
Li, D., A. Cong, and S. Guo. 2019. “Sewer damage detection from imbalanced CCTV inspection data using deep convolutional neural networks with hierarchical classification.” Autom. Constr. 101 (May): 199–208. https://doi.org/10.1016/j.autcon.2019.01.017.
Li, Y., H. Wang, L. M. Dang, H. K. Song, and H. Moon. 2022a. “Vision-based defect inspection and condition assessment for sewer pipes: A comprehensive survey.” Sensors (Basel) 22 (7): 2722. https://doi.org/10.3390/s22072722.
Li, Y. F., H. X. Wang, L. M. Dang, M. J. Piran, and H. Moon. 2022b. “A robust instance segmentation framework for underground sewer defect detection.” Measurement 190 (Feb): 110727. https://doi.org/10.1016/j.measurement.2022.110727.
Liu, W., Z. Zhang, S. Li, and D. Tao. 2017a. “Road detection by using a generalized Hough transform.” Remote Sens. 9 (6): 590. https://doi.org/10.3390/rs9060590.
Liu, Y., M.-M. Cheng, X. Hu, K. Wang, and X. Bai. 2017b. “Richer convolutional features for edge detection.” IEEE Trans. Pattern Anal. 41 (8): 1939–1946. https://doi.org/10.1109/TPAMI.2018.2878849.
Makar, J. M. 1999. “Diagnostic techniques for sewer systems.” J. Infrastruct. Syst. 5 (2): 69–78. https://doi.org/10.1061/(ASCE)1076-0342(1999)5:2(69).
Malek Mohammadi, M., M. Najafi, V. Kaushal, R. Serajiantehrani, N. Salehabadi, and T. Ashoori. 2019. “Sewer pipes condition prediction models: A state-of-the-art review.” Infrastructures 4 (4): 64. https://doi.org/10.3390/infrastructures4040064.
Mohammadi, M. M., M. Najafi, S. Kermanshachi, V. Kaushal, and R. Serajiantehrani. 2020. “Factors influencing the condition of sewer pipes: State-of-the-art review.” J. Pipeline Syst. Eng. Pract. 11 (4): 03120002. https://doi.org/10.1061/(ASCE)PS.1949-1204.0000483.
MOHURD (Ministry of Housing and Urban-Rural Development). 2012. Technical regulations for testing and evaluation of urban drainage pipelines. CJJ 181-2012. Beijing: MOHURD.
Moradi, S., T. Zayed, and F. Golkhoo. 2019. “Review on computer aided sewer pipeline defect detection and condition assessment.” Infrastructures 4 (1): 10. https://doi.org/10.3390/infrastructures4010010.
Mukhopadhyay, P., and B. B. Chaudhuri. 2015. “A survey of Hough transform.” Pattern Recognit. 48 (3): 993–1010. https://doi.org/10.1016/j.patcog.2014.08.027.
NASSCO (National Association of Sewer Service Companies). 2014. “Performance specification guideline.” In Pipe condition assessment using CCTV. Frederick, MD: NASSCO.
Oh, C., L. M. Dang, D. Han, and H. Moon. 2022. “Robust sewer defect detection with text analysis based on deep learning.” IEEE Access 10 (23): 46224–46237. https://doi.org/10.1109/ACCESS.2022.3168660.
Rayhana, R., Y. T. Jiao, A. Zaji, and Z. Liu. 2021. “Automated vision systems for condition assessment of sewer and water pipelines.” IEEE Trans. Autom. Sci. Eng. 18 (4): 1861–1878. https://doi.org/10.1109/TASE.2020.3022402.
Rizzo, P. 2010. “Water and wastewater pipe nondestructive evaluation and health monitoring: A review.” Adv. Civ. Eng. 2010 (5): 818597. https://doi.org/10.1155/2010/818597.
Sheen, D. 1992. “A generalized Green’s theorem.” Appl. Math. Lett. 5 (4): 95–98. https://doi.org/10.1016/0893-9659(92)90096-R.
Su, T.-C., M.-D. Yang, T.-C. Wu, and J.-Y. Lin. 2011. “Morphological segmentation based on edge detection for sewer pipe defects on CCTV images.” Expert Syst. Appl. 38 (10): 13094–13114. https://doi.org/10.1016/j.eswa.2011.04.116.
Suzuki, S., and K. Be. 1985. “Topological structural analysis of digitized binary images by border following.” Comput. Vision Graphics Image Process. 30 (1): 32–46. https://doi.org/10.1016/0734-189X(85)90016-7.
Wang, M., H. Luo, and J. C. Cheng. 2021a. “Towards an automated condition assessment framework of underground sewer pipes based on closed-circuit television (CCTV) images.” Tunnelling Underground Space Technol. 110 (Apr): 103840. https://doi.org/10.1016/j.tust.2021.103840.
Wang, M. Z., S. S. Kumar, and J. C. P. Cheng. 2021b. “Automated sewer pipe defect tracking in CCTV videos based on defect detection and metric learning.” Autom. Constr. 121 (Jan): 103438. https://doi.org/10.1016/j.autcon.2020.103438.
Wu, S., S. Zhong, and Y. Liu. 2018. “Deep residual learning for image steganalysis.” Multimedia Tools Appl. 77 (9): 10437–10453. https://doi.org/10.1007/s11042-017-4440-4.
Xie, S., and Z. Tu. 2017. “Holistically-nested edge detection.” In Proc., IEEE Int. Conf. on Computer Vision (ICCV), 1395–1403. New York. IEEE. https://doi.org/10.1109/ICCV.2015.164.
Yang, D., B. Peng, Z. Al-Huda, A. Malik, and D. Zhai. 2022a. “An overview of edge and object contour detection.” Neurocomputing 488 (Jun): 470–493. https://doi.org/10.1016/j.neucom.2022.02.079.
Yang, G., J. Hu, Z. Hou, G. Zhang, and W. Wang. 2022b. “A new Hough transform operated in a bounded Cartesian coordinate parameter space.” IET Image Proc. 16 (8): 2282–2295. https://doi.org/10.1049/ipr2.12489.
Yang, M.-D., and T.-C. Su. 2008. “Automated diagnosis of sewer pipe defects based on machine learning approaches.” Expert Syst. Appl. 35 (3): 1327–1337. https://doi.org/10.1016/j.eswa.2007.08.013.
Ye, X., J. Zuo, R. Li, Y. Wang, L. Gan, Z. Yu, and X. Hu. 2019. “Diagnosis of sewer pipe defects on image recognition of multi-features and support vector machine in a southern Chinese city.” Front. Environ. Sci. Eng. 13 (2): 17. https://doi.org/10.1007/s11783-019-1102-y.
Yin, X. F., Y. Chen, A. Bouferguene, H. Zaman, M. Al-Hussein, and L. Kurach. 2020. “A deep learning-based framework for an automated defect detection system for sewer pipes.” Autom. Constr. 109 (Jan): 102967. https://doi.org/10.1016/j.autcon.2019.102967.
Yin, X. F., T. X. Ma, A. Bouferguene, and M. Al-Hussein. 2021. “Automation for sewer pipe assessment: CCTV video interpretation algorithm and sewer pipe video assessment (SPVA) system development.” Autom. Constr. 125 (May): 103622. https://doi.org/10.1016/j.autcon.2021.103622.
Yuen, H., J. Princen, J. Illingworth, and J. Kittler. 1990. “Comparative study of Hough transform methods for circle finding.” Image Vision Comput. 8 (1): 71–77. https://doi.org/10.1016/0262-8856(90)90059-E.
Zhou, Y. X., A. K. Ji, and L. M. Zhang. 2022. “Sewer defect detection from 3D point clouds using a transformer-based deep learning model.” Autom. Constr. 136 (Apr): 104163. https://doi.org/10.1016/j.autcon.2022.104163.

Information & Authors

Information

Published In

Go to Journal of Pipeline Systems Engineering and Practice
Journal of Pipeline Systems Engineering and Practice
Volume 14Issue 3August 2023

History

Received: Nov 14, 2022
Accepted: Mar 27, 2023
Published online: May 31, 2023
Published in print: Aug 1, 2023
Discussion open until: Oct 31, 2023

Permissions

Request permissions for this article.

Authors

Affiliations

Pengtao Jia [email protected]
Professor, College of Computer Science and Technology, Xi’an Univ. of Science and Technology, Yanta Rd. 58, Xi’an, China (corresponding author). Email: [email protected]
Postgraduate Student, College of Computer Science and Technology, Xi’an Univ. of Science and Technology, Yanta Rd. 58, Xi’an, China. ORCID: https://orcid.org/0000-0002-6297-5343. Email: [email protected]
College of Computer Science and Technology, Xi’an Univ. of Science and Technology, Yanta Rd. 58, Xi’an, China. Email: [email protected]
Associate Professor, School of Civil Engineering and Architecture, Xi’an Univ. of Technology, Jinhua South Rd. No. 5, Xi’an, China. Email: [email protected]
College of Computer Science and Technology, Xi’an Univ. of Science and Technology, Yanta Rd. 58, Xi’an, China. Email: [email protected]

Metrics & Citations

Metrics

Citations

Download citation

If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.

Cited by

  • Design and Trajectory Optimization of a Large-Diameter Steel Pipe Grinding Robot, Journal of Pipeline Systems Engineering and Practice, 10.1061/JPSEA2.PSENG-1581, 15, 3, (2024).

View Options

Get Access

Access content

Please select your options to get access

Log in/Register Log in via your institution (Shibboleth)
ASCE Members: Please log in to see member pricing

Purchase

Save for later Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.

Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
ASCE Library Card (5 downloads)
$105.00
Add to cart
ASCE Library Card (20 downloads)
$280.00
Add to cart
Buy Single Article
$35.00
Add to cart

Get Access

Access content

Please select your options to get access

Log in/Register Log in via your institution (Shibboleth)
ASCE Members: Please log in to see member pricing

Purchase

Save for later Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.

Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
ASCE Library Card (5 downloads)
$105.00
Add to cart
ASCE Library Card (20 downloads)
$280.00
Add to cart
Buy Single Article
$35.00
Add to cart

Media

Figures

Other

Tables

Share

Share

Copy the content Link

Share with email

Email a colleague

Share