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

Research output: Contribution to journalArticle

10 Citations (Scopus)


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 languageEnglish
Pages (from-to)611-625
Number of pages15
JournalInternational Journal on Artificial Intelligence Tools
Issue number4
Publication statusPublished - 2007 Aug 1



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

ASJC Scopus subject areas

  • Artificial Intelligence

Cite this