NAVIGATION OF AN AUTONOMOUS SEWER INSPECTION ROBOT BASED ON STEREO CAMERA IMAGES AND LASER SCANNER DATA

2007 ◽  
Vol 16 (04) ◽  
pp. 611-625 ◽  
Author(s):  
ALIREZA AHRARY ◽  
LI TIAN ◽  
SEI-ICHIRO KAMATA ◽  
MASUMI ISHIKAWA
Keyword(s):  
Laser Scanner ◽  
Distance Estimation ◽  
Test Field ◽  
Scanner Data ◽  
Sewer Pipe ◽  
Stereo Camera ◽  
Pipe System ◽  
Inspection Robot ◽  
Accurate Localization ◽  
Sewer Inspection

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.

Evidential SLAM Fusing 2D Laser Scanner and Stereo Camera

2019 ◽  
Vol 07 (03) ◽  
pp. 149-159
Author(s):  
Michelle Valente ◽  
Cyril Joly ◽  
Arnaud de La Fortelle
Keyword(s):  
Laser Scanner ◽  
Relevant Information ◽  
Mapping Data ◽  
Matching Algorithm ◽  
Localization Method ◽  
Stereo Camera ◽  
Accurate Localization ◽  
Localization And Mapping ◽  
The World ◽  
High Level

This work introduces a new complete Simultaneous Localization and Mapping (SLAM) framework that uses an enriched representation of the world based on sensor fusion and is able to simultaneously provide an accurate localization of the vehicle. A method to create an Evidential grid representation from two very different sensors, laser scanner and stereo camera, allows a better handling of the dynamic aspects of the urban environment and a proper management of errors to create a more reliable map, thus having a more precise localization. A life-long layer with high level states is presented, it maintains a global map of the entire vehicle’s trajectory and distinguishes between static and dynamic obstacles. Finally, we propose a method that at each current map creation estimates the vehicle’s position by a grid matching algorithm based on image registration techniques. Results on a real road dataset show that the environment mapping data can be improved by adding relevant information that could be missed without the proposed approach. Moreover, the proposed localization method is able to reduce the drift and improve the localization compared to other methods using similar configurations.

Obtaining morphometric variables from gullies using two methods of interpolation laser scanner data: the case study of Vassouras, Brazil

2020 ◽  
Vol 17 (12) ◽  
pp. 3012-3023
Author(s):  
Carlos Magno Moreira de Oliveira ◽  
Márcio Rocha Francelino ◽  
Bruno Araujo Furtado de Mendonça ◽  
Isabela Queiroz Ramos
Keyword(s):  
Laser Scanner ◽  
Scanner Data

scholarly journals Combining optical satellite data and airborne laser scanner data for vegetation classification

2011 ◽  
Vol 3 (5) ◽  
pp. 393-401 ◽  
Author(s):  
Karin Nordkvist ◽  
Ann-Helen Granholm ◽  
Johan Holmgren ◽  
Håkan Olsson ◽  
Mats Nilsson
Keyword(s):  
Satellite Data ◽  
Laser Scanner ◽  
Vegetation Classification ◽  
Scanner Data ◽  
Airborne Laser Scanner ◽  
Airborne Laser ◽  
Optical Satellite Data
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