1A2-E11 Development of a simplified map generation system using a sewer inspection robot with passive arms

2010 ◽  
Vol 2010 (0) ◽  
pp. _1A2-E11_1-_1A2-E11_2
Author(s):  
Masayoshi HONDA ◽  
Amir A. F. NASSIRAEI ◽  
Kazuo ISHII
Keyword(s):  
Generation System ◽  
Inspection Robot ◽  
Map Generation ◽  
Sewer Inspection

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.

scholarly journals Dynamic Replanning in Uncertain Environments for a Sewer Inspection Robot

10.5772/5617 ◽  
2004 ◽  
Vol 1 (1) ◽  
pp. 4 ◽  
Author(s):  
Oliver Adria ◽  
Hermann Streich ◽  
Joachim Hertzberg
Keyword(s):  
Uncertain Environments ◽  
Inspection Robot ◽  
Sewer Inspection
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