An autonomous sewer robots navigation based on stereo camera information

Ahrary, Alireza; Tian, Li; Kamata, Sei‐ichiro; Ishikawa, Masatoshi

doi:10.1109/ictai.2005.35

Cited by 17 publications

(14 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…In previous work, the in-pipe inspection robot called KAN-TARO used a laser scanner and image processing algorithm to detect landmarks [6]- [10]. MAKRO also used a vision and a laser projector [11]- [15].…”

Section: Introductionmentioning

confidence: 99%

Autonomous navigation of in-pipe working robot in unknown pipeline environment

Lee

Moon

Choi

2011

2011 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

In this paper, we present the autonomous pipeline navigation method of an in-pipe robot, based on the landmark recognition system and 3D orientation sensor. The fittings of pipelines such as elbows and branches can be used as the landmarks. In this paper, we introduce a noise tolerant landmark detection method using a line laser beam projected on the internal surface of the pipeline. Once the line laser is projected on the surface of landmarks, a unique line pattern is generated. By using this line pattern, the robot can easily detect and distinguish these landmarks while recognizing the direction of the pipeline path. Simultaneously, the robot's pose information from the orientatiom sensor and the driving motor's encoder is continuously recorded and used to reconstruct a map of the pipelines. By using this map and a specific navigation strategy, the robot can navigate in the 3D pipeline autonomously. The effectiveness of the proposed method is validated by experiments using the in-pipe robot called MRINSPECT V.

show abstract

Section: Introductionmentioning

confidence: 99%

Autonomous navigation of in-pipe working robot in unknown pipeline environment

Lee

Moon

Choi

2011

2011 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

show abstract

“…For this reason, various methods using vision images are proposed for detection of the landmarks. However, most of these methods are developed for sewer inspection robots [5,6], which operate in two-dimensional environment. In this condition, the landmarks such as the manholes or branches are detected under some fixed in-plane directions [5].…”

Section: Introductionmentioning

confidence: 99%

“…However, most of these methods are developed for sewer inspection robots [5,6], which operate in two-dimensional environment. In this condition, the landmarks such as the manholes or branches are detected under some fixed in-plane directions [5]. Thus, in gas pipelines and oil pipelines, which are installed in three-dimensional space, it is difficult to use former methods.…”

Section: Introductionmentioning

confidence: 99%

“…Elbows and branches can be used as good landmarks for the robot's localization. There are several methods that can be used for recognizing these landmarks, such as using vision systems [3][4][5][6][7], sonar sensors [8], IR sensors [9]. Since most in-pipe robots use illuminators and cameras for getting the pictorial information inside of the pipelines, image-based algorithms seem to be more convenient and efficient compared to other methods.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

In-pipe robot navigation based on the landmark recognition system using shadow images

Lee

Roh

Kim

et al. 2009

2009 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

In this paper, we present an autonomous in-pipe robot navigating system using vision-based landmark recognition. We propose to use special features of the pipelines (such as elbows or branches) as landmarks by recognizing the shadows of the elbows and branches. To obtain consistent shadow images, the in-pipe robot equips with specially designed illuminator. By analyzing the shadow, the robot can easily identify these landmarks, detect the direction of the passage, and adaptively traverse through while continuously updating the map. The effectiveness of the proposed method is verified by real experiments using the in-pipe robot MRINSPECT V for inspecting inside of the miniature urban 8-inch gas pipeline structure.

show abstract

“…For autonomous navigation-oriented researches, KANTARO, a sewer pipeline inspection robot, used a stereo camera and a laser scanner to detect landmarks in sewer pipelines. [6][7][8][9] Another sewer pipeline inspection robot, MAKRO, used an infrared (IR) sensor for its autonomous navigation. [10][11][12][13][14] However, previous researches on autonomous navigation in pipelines are limited to sewer pipelines.…”

Section: Introductionmentioning

confidence: 99%

Landmark detection methods for in-pipe robot traveling in urban gas pipelines

2014

View full text Add to dashboard Cite

SUMMARYElbows and branches in pipelines produce unique image patterns, which can be used as landmarks for autonomous navigation inside the pipelines. This paper presents two landmark detection methods, known as shadow-based method and laser projection method. The first method uses the landmark's unique patterns of shadow produced by the robot's illuminator. The other method exploits special line features generated by its own line-laser beam projector. The basic algorithms for extracting the landmarks are given and special sensor mechanisms are addressed respectively. Finally, the detection performances of each method are validated in various pipeline conditions by using an in-pipe robot, called MRINSPECT-V.

show abstract

An autonomous sewer robots navigation based on stereo camera information

Cited by 17 publications

References 5 publications

Autonomous navigation of in-pipe working robot in unknown pipeline environment

Autonomous navigation of in-pipe working robot in unknown pipeline environment

In-pipe robot navigation based on the landmark recognition system using shadow images

Landmark detection methods for in-pipe robot traveling in urban gas pipelines

Contact Info

Product

Resources

About