Gas-mapping 3D imager measurement techniques and method of data processing
Measurement approaches and data analysis methods are disclosed for combining 3D topographic data with spatially-registered gas concentration data to increase the efficiency of gas monitoring and leak detection tasks. Here, the metric for efficiency is defined as reducing the measurement time required to achieve the detection, or non-detection, of a gas leak with a desired confidence level. Methods are presented for localizing and quantifying detected gas leaks. Particular attention is paid to the combination of 3D spatial data with path-integrated gas concentration measurements acquired using remote gas sensing technologies, as this data can be used to determine the path-averaged gas concentration between the sensor and points in the measurement scene. Path-averaged gas concentration data is useful for finding and quantifying localized regions of elevated (or anomalous) gas concentration making it ideal for a variety of applications including: oil and gas pipeline monitoring, facility leak and emissions monitoring, and environmental monitoring.
1. A method, comprising:
identifying a first occluded volumetric region of a physical scene that is occluded from a first viewpoint based on 3D spatial data, the 3D spatial data having 3D coordinates of physical points associated with a plurality of surfaces that are viewable from the first viewpoint;
identifying a second viewpoint of the physical scene for which at least portion of the first occluded volumetric region is not occluded from view;
performing a first gas sensing measurement based on the first viewpoint; and
performing a second gas sensing measurement based on the second viewpoint.
2. The method of claim 1 , further comprising:
determining, a location of a gas leak source based, at least in part, on the first or second gas sensing measurements.
3. The method of claim 2 , further comprising:
determining a physical component corresponding to the gas leak source.
4. The method of claim 1 , further comprising:
performing occlusion processing on the 3D spatial data.
5. The method of claim 1 wherein
the identification of the first occluded volumetric region includes segmentation of structures or features in the 3D spatial data.
6. The method of claim 1 wherein
the identification of the first occluded volumetric region includes shape detection or feature identification of structures or features in the 3D spatial data.
7. The method of claim 1 further comprising:
performing the first or second gas sensing measurements with a mobile gas sensor.
8. The method of claim 1 , further comprising:
determining an anomalous gas quantity in the physical scene that is greater or less than the background gas quantity in the physical scene based, at least in part on the first or second gas sensing measurements.
9. The method of claim 8 wherein
the determined anomalous gas quantity is calculated by first subtracting the background path-averaged gas concentration that is either measured or otherwise known to be in the scene from the measured path-averaged gas concentration data to derive path-integrated anomalous gas concentration data, the path-integrated anomalous gas concentration data is then integrated over the spatial coordinates of the measurement scene to determine the anomalous gas quantity.
10. The method of claim 1 , wherein
the first or second gas sensing measurements form, at least in part, a plurality of viewing locations that are used to reduce the occurrence of undetected leaks within the physical scene.
11. The method of claim 1 , further comprising: determining a location of a gas plume in 3D space by combining the 3D spatial data with gas data from, at least in part, the first or second gas sensing measurements using a tomographic reconstruction algorithm.