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 | |
| Publication status | Published - 2007 Aug |
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Keywords
- Autonomous
- Laser scanner
- Robot navigation
- Sewer inspection
- Sewer pipe system
- Stereo matching
ASJC Scopus subject areas
- Artificial Intelligence
Cite this
Navigation of an autonomous sewer inspection robot based on stereo camera images and laser scanner data. / Ahrary, Alireza; Tian, Li; Kamata, Seiichiro; Ishikawa, Masumi.
In: International Journal on Artificial Intelligence Tools, Vol. 16, No. 4, 08.2007, p. 611-625.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Navigation of an autonomous sewer inspection robot based on stereo camera images and laser scanner data
AU - Ahrary, Alireza
AU - Tian, Li
AU - Kamata, Seiichiro
AU - Ishikawa, Masumi
PY - 2007/8
Y1 - 2007/8
N2 - 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.
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.
KW - Autonomous
KW - Laser scanner
KW - Robot navigation
KW - Sewer inspection
KW - Sewer pipe system
KW - Stereo matching
UR - http://www.scopus.com/inward/record.url?scp=34548508719&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34548508719&partnerID=8YFLogxK
U2 - 10.1142/S0218213007003461
DO - 10.1142/S0218213007003461
M3 - Article
VL - 16
SP - 611
EP - 625
JO - International Journal on Artificial Intelligence Tools
JF - International Journal on Artificial Intelligence Tools
SN - 0218-2130
IS - 4
ER -