EIVA NaviModel3. Handling of Pipeline Inspection Data in a 3D Environment

Transcription

1 EIVA NaviModel3 Handling of Pipeline Inspection Data in a 3D Environment

2 EIVA NaviModel3 Abstract: The optimization of the post-processing environment for pipeline inspection post-processing tasks within NaviModel3 has focused on two aspects: Optimization of the visual environment in order to supply the operator with enhanced and improved background information for his decision making Speed-optimization and automation of the post-processing task The aim of the optimization has in other words been to supply the users with tools that facilitates the production of better and more unambiguous pipeline inspection related data, faster and with reduced user intervention.

3 EIVA NaviSuite

4 Introduction: The implementation of pipeline inspection functionalities in EIVAs 3D modelling tool, NaviModel3, has brought together a series of tools on a single platform. The tools have been developed with focus on 3D visualisation in order to provide an intuitive and optimized environment for the post-processing. The solution includes: Conventional Digital Terrain Modelling tools in a 3D environment: TRN and TIN geometry types TRN models include, by default: Raw data Average, Minimum and Maximum Model Types and Interpolation, based on the IDW Method TIN Models are based on Delaunay Triangulations: Used for single beam and theoretical models Generation of Contours, shaded Reliefs, Profiles Predefined and Generic Importing/Exporting Functionalities Multiple simultaneous models EIVA NaviModel3 Cleaning functionalities, automatic- and manual methods Unlimited model size, based on the Quad tree principle

5 Add-on Modules for: Bathymetric postprocessing and visualizations Dedicated pipeline inspection functions Offline eventing Catenary calculations and visualizations Online 3D visualisations Volume calculations & reporting Video Integration: NETmc Marine VisualSoft NaviModel3 Features

6 The NaviModel3 Flow

7 NaviModel3 Quad Tree Principle Models and raw points are residing on the hard-drive (not in RAM). The effects of the Quad Tree principle can be visualised as follows. Note the high IO-efficiency both with respect to model and raw points:

8 NaviModel3 Model Types II The TIN geometry type: TIN Model, left Delaunay Triangulation, principle, right (circumcised circles between corners of triangles must not contain other points)

9 NaviModel3 Interpolation IDW interpolation, right, extrapolation, left n 1 1 As * * n 1 2 i 1 di ) d i 1 2 i Ap i, with

10 NaviModel3 Cleaning The situation prior to cleaning: DTM view with noise around the pipe, close to a rock-dump area (left) Noisy raw data around the pipe (embedded in the model and superimposed onto the DTM) (right)

11 Manual Point Edit 3D cleaning NaviModel3 Cleaning II

12 NaviModel3 Cleaning III After cleaning w. manual Point Edit 3D cleaning

13 Semi-automatic Histogram Plane Cleaning NaviModel3 Cleaning IV

14 NaviModel3 Cleaning V NaviModel3 supports inclusions of dedicated, user-developed plug-ins for cleaning and antinoise determination: The S-CAN (SCALGO Combinatorial Anti Noise) cleaning tool is developed in corporation with Center for Massive Data Algorithms (MADALGO) at the University of Aarhus The development of the tool focused on automatic cleaning of the massive multi-beam point-clouds, typically associated with pipe line surveys The S-CAN computes a Noise Score for each data point, and the user can then interactively clean parts of the dataset in NaviModel3 by selecting a region of the data and removing points with high noise scores The score value is determined in an initial, relatively processing-heavy, step The subsequent manual processing step of selecting areas with different and dedicated threshold values is developed for efficiency The S-CAN plug-in comes in two different variants: The Score variant The Components variant

15 NaviModel3 S-Can Cleaning The Components Variant: Separates input observations into series of observations that fulfil a requirement of maximum threshold between neighbouring points Neighbouring series are termed Surfaces. A large threshold separates into surfaces with high internal noise. A small threshold will divide the observations into more surfaces The largest surfaces, in terms of population, are listed, in sequence, in the user interface, for the user to choose which ones to keep If the threshold is not acceptable for the cleaning, a new indexing, with a new threshold must take place

16 NaviModel3 S-Can Cleaning II S-CAN Components automatic cleaning Initial action (left) Cleaning (right)

17 NaviModel3 S-Can Cleaning III After Cleaning w. S-CAN Components automatic cleaning

18 4 NaviModel3 S-Can Cleaning IV The Score Variant: Score calculates for all thresholds This optimizes the testing of the best possible threshold value for a given area The Score variant is often faster than the Component variant. It should only be used where one surface must be determined. A pipe and a seabed can sometimes be regarded a surface Similarly, Component should be used in situations with a larger variety in the seabed features Most often combining the two variants will yield an optimum solution, with Score being used as priority 1, because of its effectiveness, and Components used in the remaining, more complex areas

19 NaviModel3 S-Can Cleaning V S-CAN Score automatic cleaning Initial action (left) Cleaning (right)

20 NaviModel3 S-Can Cleaning VI After cleaning w. S-CAN Score automatic cleaning

21 Raw SBD file from Reson7125D (42 pipe)

22 After cleaning 11.2 mill points

23 NaviModel3 S-CAN Cleaning Performance blue line high performance, 64 bit (Score) green line high performance, 32 bit (Score) red line medium/low performance, 64 bit (Score) orange line medium performance, 32 bit (Score) brown line high performance, 32 bit (Components)

24 NaviModel3 S-CAN Cleaning Performance II Break-point Performance before the break-point Performance after the break-point 64-Bit W7 Laptop (8 GB) 34 (34) million points 6.3 (7.5) million/minute 3.1 (3.8) million/minute 64-Bit XP Desktop (8 GB) 34 million points 1.8 million/minute 0.5 million/minute 32-Bit W7 Laptop (3 GB) 12 million points 3.2 million/minute 0.6 million/minute 32-bit W7 Desktop (3 GB) 14 (14) million points 6.9 (9.4) million/minute 1.7 (2.5) million/minute Break-point, 64 bit: 1200 m data (60 minutes of observations) Break-point, 32 bit: 500 m data (25 minutes of observations) The Break-point is a function of the RAM available for the algorithm: Once all points to be cleaned can be contained in RAM, the algorithm is 4-5 times more efficient than when the auxiliary memory on the swap-file is applied to contain the points. For larger dataset it can be beneficial to divide the initial score determination into optimum parts, relative to the RAM available. When performance is of outmost importance, substantial improvements can be achieved by employing a 64-bit operating system with large amounts of RAM on a high performance computer.

25 NaviModel3 Pipe Inspection The pipe object can be loaded as a pipe-tracker file or it can be generated within NaviModel3, typically by digitizing. In the DTM window, the pipetracker information loaded will be shown together with a Kalman filter line. This line is based on the Pipe Tracker observations and the NM3 Kalman settings. If selected by the user, the Kalman line is used to place the pipe at a later stage of the process

26 Digitization of a pipeline is particularly useful in connection with exposed pipes. Prior to digitizing, the pipe diameter is specified: NaviModel3 Pipe Inspection

27 The next step is to generate the pipe. This is done on the basis of the residing information: Digitized Pipe Pipetracker Data Runline Data: NaviModel3 Pipe Inspection

28 The next step is to generate the sideflags, based on the pipe: NaviModel3 Pipe Inspection

29 Once the pipe object is generated, different visualisations of the pipestatus can be used for evaluation purposes, such as: Pipe-flexion status Pipe burial status NaviModel3 Pipe Inspection

30 The Autoplacing functionality is sometimes very useful in connection with relatively clean, noise-free data originating from an exposed pipe: NaviModel3 Pipe Inspection

31 Once the flags have been generated, they will be visualized on the DTM window. The contents of the KP-axis window will also have changed, based on the flags: Freespans Burials Exposed Possible burial error NaviModel3 Pipe Inspection

32 NaviModel3 Pipe Inspection Adding user defined flags is furthermore facilitated in NM3 The side flags can also be modified and moved manually. This is done in the 3D environment of the DTM window by use of the mouse. Exporting from NaviModel3 of data that can be used for further processing, typically in NaviPlot.

33 NaviModel3 Pipe Inspection

34 NaviModel3 Video Integration

35 NaviModel3 Offline Eventing

36 NaviModel3 Multiple Models 3 Models simultaneously, 2 from different surveys, 1 difference model

37 NaviModel3 Bathy Processing Contours: Smoothed and superimposed onto DTM (left) Filled Contours (right) - based on a TIN approach Exported to NaviPlot for further processing

38 NaviModel3 3D Visualisations Point Clouds: In the DTM window, superimposed on the DTM (top) In PointEdit (bottom) Online Views (Catenary Module) (right)

39 NaviModel3 Pipe Inspection Summary on the Speed-optimization: For the speed-optimization and automation of the post-processing task the focal points were: Cleaning functionalities: The automatic cleaning tools, the S-CAN variants, are important contributors to the speed increase, for the most part because they require a moderate user involvement and because they are easy to use Cleaning efficiency and optimization: S-CAN is capable of processing large datasets that do not match the limitations of internal memory. The constant movement of data to and from disc during the cleaning, does not appear to be a performance bottleneck Substantial improvements on S-CAN cleaning performance can be achieved by employing a 64-bit operating system with adequate amounts of RAM on a high performance computer

40 NaviModel3 Pipe Inspection Summary on the Visual environment: For the optimization of the visual environment, a series of features have been implemented: All data of relevance within NaviModel3 can be visualized in an integrated 3D based environment that includes different views, such as the 3D DTM-window and the KP-axis window Video integration for different applications Implementation of an off-line eventing tool that includes editing of online events Comprehensive visualization tools associated with the pipe as well as with other objects Jointly these enhancements, visual and speed-related, provide tools to the users, that facilitate the production of improved and more unambiguous pipeline inspection related data, faster and with reduced user intervention.

41 EIVA Training and Documentation Site: EIVA Knowledgebase: kb.eiva.dk NaviModel3 Further Information Frequently Asked Questions: Press Releases at Hydro International: Release of NaviModel3 DTM Software, February 2010: AntiNoise Plugin for NaviModel, May 2010: EIVA NaviModel3, Handling of Pipeline Inspection Data in a 3D Environment (this document) EIVA NaviModel3, Paper on Pipe Inspection Tools

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