摘要：In this paper,we propose a method to generate a 3D map in the narrow pipeline from insideimages captured from a camera mounted on earthworm robot. Pipes that have reached the end of theiruseful life cause leaks and pits in the road; thus, it is necessary to inspect the inside of the pipe.In order toinspect the inside of the pipe, images in the pipeline are converted to development images and motionestimation of the camera is performed using the optical flow. Finally，the development images areconnected to generate a 3D map.
