High Precision In-Pipe Robot Localization with Reciprocal Sensor Fusion

Authors :: Zhao, Dapeng
Whittaker, William
Source :: Waste Management Symposium, Phoenix US, Mar 3-7, #19516, WM Symposia (2019)
Publication Year :: 2020
Abstract: The huge advantage of in-pipe robots is that they are able to measure from inside the pipes, and to sense the geometry, appearance and radiometry directly. The downside is the inability to know precise, absolute position of the measurements in very long pipe runs. This paper develops the unprecedented localization required for this purpose.<br />Comment: 12 pages, "Superior Paper Award" on WM Symposia 2019

Subjects :: Computer Science - Robotics
Electrical Engineering and Systems Science - Signal Processing

Database :: arXiv
Journal :: Waste Management Symposium, Phoenix US, Mar 3-7, #19516, WM Symposia (2019)
Publication Type :: Report
Accession number :: edsarx.2002.12408
Document Type :: Working Paper

Tools