  The assessment of sewer pipe systems is a highly important, but at the same
time cumbersome and error-prone task. We introduce an innovative system based
on single-shot structured light modules that facilitates the detection and
classification of spatial defects like jutting intrusions, spallings, or
misaligned joints. This system creates highly accurate 3D measurements with
sub-millimeter resolution of pipe surfaces and fuses them into a holistic 3D
model. The benefit of such a holistic 3D model is twofold: on the one hand, it
facilitates the accurate manual sewer pipe assessment, on the other, it
simplifies the detection of defects in downstream automatic systems as it
endows the input with highly accurate depth information. In this work, we
provide an extensive overview of the system and give valuable insights into our
design choices.
