An autonomous sewer robots navigation based on stereo camera information

Alireza Ahrary, Li Tian, Seiichiro 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 publicationProceedings - International Conference on Tools with Artificial Intelligence, ICTAI
Pages628-633
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
EventICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05 - Hong Kong
Duration: 2005 Nov 142005 Nov 16

Other

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

Fingerprint

Sewers
Navigation
Cameras
Robots
Pipe
Pipe joints
Pixels

ASJC Scopus subject areas

  • Engineering(all)

Cite this

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

An autonomous sewer robots navigation based on stereo camera information. / Ahrary, Alireza; Tian, Li; Kamata, Seiichiro; Ishikawa, Masumi.

Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI. Vol. 2005 2005. p. 628-633 1563004.

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

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