Navigation of an autonomous sewer inspection robot based on stereo camera images and laser scanner data

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

doi:10.1142/S0218213007003461

Navigation of an autonomous sewer inspection robot based on stereo camera images and laser scanner data

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

Graduate School of Information, Production and Systems

Research output: Contribution to journal › Article › peer-review

10 Citations (Scopus)

Abstract

Sewer environment is composed of cylindrical pipes, in which only a few landmarks such as manholes, inlets and pipe joints are available for localization. This paper presents a method for navigation of an autonomous sewer inspection robot in a sewer pipe system based on detection of landmarks. In this method, location of an autonomous sewer inspection robot in the sewer pipe system is estimated from stereo camera images. The laser scanner data are also used to ensure accurate localization of the landmarks and reduce the error in distance estimation by image processing. The method is implemented and evaluated in a sewer pipe test field using a prototype robot, demonstrating its effectiveness.

Original language	English
Pages (from-to)	611-625
Number of pages	15
Journal	International Journal on Artificial Intelligence Tools
Volume	16
Issue number	4
DOIs	https://doi.org/10.1142/S0218213007003461
Publication status	Published - 2007 Aug

Keywords

Autonomous
Laser scanner
Robot navigation
Sewer inspection
Sewer pipe system
Stereo matching

ASJC Scopus subject areas

Artificial Intelligence

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title = "Navigation of an autonomous sewer inspection robot based on stereo camera images and laser scanner data",

abstract = "Sewer environment is composed of cylindrical pipes, in which only a few landmarks such as manholes, inlets and pipe joints are available for localization. This paper presents a method for navigation of an autonomous sewer inspection robot in a sewer pipe system based on detection of landmarks. In this method, location of an autonomous sewer inspection robot in the sewer pipe system is estimated from stereo camera images. The laser scanner data are also used to ensure accurate localization of the landmarks and reduce the error in distance estimation by image processing. The method is implemented and evaluated in a sewer pipe test field using a prototype robot, demonstrating its effectiveness.",

keywords = "Autonomous, Laser scanner, Robot navigation, Sewer inspection, Sewer pipe system, Stereo matching",

author = "Alireza Ahrary and Li Tian and Kamata, {Sei Ichiro} and Masumi Ishikawa",

note = "Funding Information: This research was supported by the Organization for Small and Medium Enterprises and Regional Innovation, JAPAN (SMRJ).",

year = "2007",

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AU - Ahrary, Alireza

AU - Tian, Li

AU - Kamata, Sei Ichiro

AU - Ishikawa, Masumi

N1 - Funding Information: This research was supported by the Organization for Small and Medium Enterprises and Regional Innovation, JAPAN (SMRJ).

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AB - Sewer environment is composed of cylindrical pipes, in which only a few landmarks such as manholes, inlets and pipe joints are available for localization. This paper presents a method for navigation of an autonomous sewer inspection robot in a sewer pipe system based on detection of landmarks. In this method, location of an autonomous sewer inspection robot in the sewer pipe system is estimated from stereo camera images. The laser scanner data are also used to ensure accurate localization of the landmarks and reduce the error in distance estimation by image processing. The method is implemented and evaluated in a sewer pipe test field using a prototype robot, demonstrating its effectiveness.

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KW - Laser scanner

KW - Robot navigation

KW - Sewer inspection

KW - Sewer pipe system

KW - Stereo matching

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