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Limited-Data CT for Underwater Pipeline Inspection


Academic year: 2023

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Limited-Data CT for Underwater Pipeline Inspection

Per Christian Hansen

Joint work with:

Jacob Frøsig, Nicolai A. B. Riis, Yiqiu Dong, Rasmus D. Kongskov – Technical University of Denmark

Arvid P. L. Böttiger, Torben Klit Pedersen – FORCE Technology Jürgen Frikel – OTH Regensburg

Todd Quinto – Tufts University



Subsea CT-Scanner by FORCE Technology, Denmark

Alt. to ultrasound: use X-ray scanning to compute cross-sectional images of oil pipes lying on the seabed, to detect defects, cracks, etc. in the pipe.


The Geometry of the Problem

Limitations in the scanner device ⇒ only a part of the pipe can be illuminated by the fan-beam.

Design a set-up + algorithm that allows us to reconstruct as much of the pipe as possible from the limited data.

Full illumination, centered.

Not possible.

Partial illumination, centered.

Possible set-up.

Partial illumination, off-center.

Also possible.



The CT Forward Model

Continuous formulation, limited data

The measured projections g for the objectf are described by g(θ,s) = (R`f)(θ,s) +noise

where (R`f)(θ,s) = (Rf)(θ,s) for those pairs(θ,s) corresponding to the

`imited illumination, andR is the Radon transform.

Corresponding algebraic model

The measured data b for a discretized objectx is described by b=A`x+e, b∈Rm, x ∈Rn, A` ∈Rm×n, where e ∈Rm withei ∼N(0, σ2) andA` is the discretion of R`.


Full and Two Different Limited Illuminations



Characterising What We Can Measure – Centered Beam

Microlocal analysis:a singularity at positionχ with directionξ is visible if and only if data from the line throughχ perpendicular toξ is present.

Measured data from one view/projection.

Visible from one view/projection.

Visible from all views/projections.


Characterising What We Can Measure – Off-Center Beam

Measured data from one view/projection.

Visible from one view/projection.

Visible from all views/projections.



Reconstruction – Variational Formulation

Reconstruction with a weighted frame-based sparsity penalty Solve the problem



kA`x −bk22+αkW ck1o

, α=reg. parameter with weightsW =diag(wi)and tight-frame coefficients ci =hφi,xi.

To solve this problem we use the optimization algorithm FISTA – the Fast Iterative Shrinkage-Thresholding Algorithm [Beck & Teboulle 2009].

Shearletsgive a good, sparse representation of defects, contours, etc.


Definition of Weights + Example

Scale weights: wis depend solely on the scale, or level, of the frame φi (smaller “footprint” of φi →larger weight).

Ray-density weights: wir depend solely on the number of rays that intersect the “footprint” of φi,

wir∼ kMφik2/kφik2, M =diag(kA( :,j)k2).

Left to right: phantom, Landweber, and 3× our algorithm.

0 0.1 0.2 0.3 0.4

0 0.1 0.2 0.3 0.4 0.5

0 0.1 0.2 0.3 0.4

0 0.1 0.2 0.3 0.4

wi =1 wi =wis wi =wis·wir



Reconstructions from Real Data – Both Geometries

Centered beam: there are many artifacts.

ART Our alg.

Off-center beam: singularities are easy to detect; artifacts are reduced.

ART Our alg.


Centered Versus Off-Center Beam

Centered beam Off-center beam Pros Good reconstruction in the

center domain.

Captures singularities out- side the center domain.

Cons Terrible reconstruction out- side the center domain.

Less good reconstruction in the center domain.

Comments Requires less projections be- cause the center domain is well covered by rays.

Requires more projections to give good reconstruc- tion everywhere.

Better suited for this appli- cation.




For technical reasons the X-ray beam cannot cover the whole pipe.

An off-centered beamcan give a satisfactory reconstruction.

A weightedshearlets-based sparsity penalty gives better

reconstructions than FDK and ART – especially with few projections.

It is important to includeweights in the sparsity penalty.

Future work:

Optimize the algorithm for performance and robustness.

Design heuristics for choosing the weights and the reg. parameter.

Derive more theory for the continuous model with limited data.

Quantify the uncertainties in the model and the solution.



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