An autonomous sewer robots navigation based on stereo camera information

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 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 languageEnglish
Title of host publicationICTAI 2005
Subtitle of host publication17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05
Pages628-633
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
EventICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05 - Hong Kong, China
Duration: 2005 Nov 142005 Nov 16

Publication series

NameProceedings - International Conference on Tools with Artificial Intelligence, ICTAI
Volume2005
ISSN (Print)1082-3409

Conference

ConferenceICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05
CountryChina
CityHong Kong
Period05/11/1405/11/16

ASJC Scopus subject areas

  • Engineering(all)

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  • 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