An autonomous sewer robots navigation based on stereo camera information

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

研究成果: Conference contribution

12 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルICTAI 2005
ホスト出版物のサブタイトル17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05
ページ628-633
ページ数6
DOI
出版ステータスPublished - 2005 12 1
イベントICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05 - Hong Kong, China
継続期間: 2005 11 142005 11 16

出版物シリーズ

名前Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI
2005
ISSN(印刷版)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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