An autonomous sewer robots navigation based on stereo camera information

Alireza Ahrary; Li Tian; Sei Ichiro Kamata; Masumi Ishikawa

doi:10.1109/ICTAI.2005.35

An autonomous sewer robots navigation based on stereo camera information

Alireza Ahrary^*, Li Tian, Sei Ichiro Kamata, Masumi Ishikawa

^*Corresponding author for this work

Graduate School of Information, Production and Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

15 Citations (Scopus)

Abstract

In this paper, we propose a method for an autonomous sewer robots to navigate through a sewer pipe system based on stereo camera information. In this method, a local features such as manholes and pipe joints are extracting as a feature pixels in the Region of Interest (ROI) of left image. Then, an accurate and fast stereo matching measure named Linear Computation is implemented in this ROI image to compute the distance between the robots and local features. Finally, the distance data can be used for navigation map in sewer pipe system. The experimental results show that our method can provide sufficient information for an autonomous sewer robots navigation.

Original language	English
Title of host publication	ICTAI 2005
Subtitle of host publication	17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05
Pages	628-633
Number of pages	6
DOIs	https://doi.org/10.1109/ICTAI.2005.35
Publication status	Published - 2005 Dec 1
Event	ICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05 - Hong Kong, China Duration: 2005 Nov 14 → 2005 Nov 16

Publication series

Name	Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI
Volume	2005
ISSN (Print)	1082-3409

Conference

Conference	ICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05
Country/Territory	China
City	Hong Kong
Period	05/11/14 → 05/11/16

ASJC Scopus subject areas

Engineering(all)

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10.1109/ICTAI.2005.35

Cite this

Ahrary, A., Tian, L., Kamata, S. I., & Ishikawa, M. (2005). An autonomous sewer robots navigation based on stereo camera information. In ICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05 (pp. 628-633). [1563004] (Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI; Vol. 2005). https://doi.org/10.1109/ICTAI.2005.35

An autonomous sewer robots navigation based on stereo camera information. / Ahrary, Alireza; Tian, Li; Kamata, Sei Ichiro et al.

ICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05. 2005. p. 628-633 1563004 (Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ahrary, A, Tian, L, Kamata, SI & Ishikawa, M 2005, An autonomous sewer robots navigation based on stereo camera information. in ICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05., 1563004, Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI, vol. 2005, pp. 628-633, ICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05, Hong Kong, China, 05/11/14. https://doi.org/10.1109/ICTAI.2005.35

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abstract = "In this paper, we propose a method for an autonomous sewer robots to navigate through a sewer pipe system based on stereo camera information. In this method, a local features such as manholes and pipe joints are extracting as a feature pixels in the Region of Interest (ROI) of left image. Then, an accurate and fast stereo matching measure named Linear Computation is implemented in this ROI image to compute the distance between the robots and local features. Finally, the distance data can be used for navigation map in sewer pipe system. The experimental results show that our method can provide sufficient information for an autonomous sewer robots navigation.",

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AB - In this paper, we propose a method for an autonomous sewer robots to navigate through a sewer pipe system based on stereo camera information. In this method, a local features such as manholes and pipe joints are extracting as a feature pixels in the Region of Interest (ROI) of left image. Then, an accurate and fast stereo matching measure named Linear Computation is implemented in this ROI image to compute the distance between the robots and local features. Finally, the distance data can be used for navigation map in sewer pipe system. The experimental results show that our method can provide sufficient information for an autonomous sewer robots navigation.

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An autonomous sewer robots navigation based on stereo camera information

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