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

*この研究の対応する著者

研究成果: Article査読

11 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)611-625
ページ数15
ジャーナルInternational Journal on Artificial Intelligence Tools
16
4
DOI
出版ステータスPublished - 2007 8月

ASJC Scopus subject areas

  • 人工知能

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