Encoder-Camera-Ground Penetrating Radar Sensor Fusion: Bimodal Calibration and Subsurface Mapping

Chou, Chieh; Li, Haifeng; Song, Dezhen

doi:10.1109/tro.2020.3010640

Cited by 12 publications

(9 citation statements)

References 39 publications

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“…GPR is often combined with additional sensors to more effectively locate targets, e.g. GPS [228], electric fields [229] and cameras [230], [231], and also multiple sensor suites such as GPR, GPS, lidar, cameras and encoders [232].…”

Section: E Above-ground Sensing Methods Including Ground Penetrating Radarmentioning

confidence: 99%

Simultaneous Localization and Mapping for Inspection Robots in Water and Sewer Pipe Networks: A Review

et al. 2021

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At the present time, water and sewer pipe networks are predominantly inspected manually. In the near future, smart cities will perform intelligent autonomous monitoring of buried pipe networks, using teams of small robots. These robots, equipped with all necessary computational facilities and sensors (optical, acoustic, inertial, thermal, pressure and others) will be able to inspect pipes whilst navigating, selflocalising and communicating information about the pipe condition and faults such as leaks or blockages to human operators for monitoring and decision support. The predominantly manual inspection of pipe networks will be replaced with teams of autonomous inspection robots that can operate for long periods of time over a large spatial scale. Reliable autonomous navigation and reporting of faults at this scale requires effective localization and mapping, which is the estimation of the robot's position and its surrounding environment. This survey presents an overview of state-of-the-art works on robot simultaneous localization and mapping (SLAM) with a focus on water and sewer pipe networks. It considers various aspects of the SLAM problem in pipes, from the motivation, to the water industry requirements, modern SLAM methods, map-types and sensors suited to pipes. Future challenges such as robustness for long term robot operation in pipes are discussed, including how making use of prior knowledge, e.g. geographic information systems (GIS) can be used to build map estimates, and improve the multi-robot SLAM in the pipe environment.

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Section: E Above-ground Sensing Methods Including Ground Penetrating Radarmentioning

confidence: 99%

Simultaneous Localization and Mapping for Inspection Robots in Water and Sewer Pipe Networks: A Review

et al. 2021

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“…Moreover, vision sensors are widely utilized in the field of mobile robotics due to their relatively low cost. The main types of vision sensors are monocular cameras, binocular cameras, RGBD cameras [ 66 ], and event cameras [ 13 ].…”

Section: Overview Of Single Sensor Sensing Technologiesmentioning

confidence: 99%

“…Edges represent the errors or constraints between the variables. The optimization algorithm is iterated to minimize the error of the edges to find the optimal solution [ 13 ].…”

Section: Introductionmentioning

confidence: 99%

A Review of Sensing Technologies for Indoor Autonomous Mobile Robots

Liu,

Wang,

Xie

et al. 2024

Sensors

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As a fundamental issue in robotics academia and industry, indoor autonomous mobile robots (AMRs) have been extensively studied. For AMRs, it is crucial to obtain information about their working environment and themselves, which can be realized through sensors and the extraction of corresponding information from the measurements of these sensors. The application of sensing technologies can enable mobile robots to perform localization, mapping, target or obstacle recognition, and motion tasks, etc. This paper reviews sensing technologies for autonomous mobile robots in indoor scenes. The benefits and potential problems of using a single sensor in application are analyzed and compared, and the basic principles and popular algorithms used in processing these sensor data are introduced. In addition, some mainstream technologies of multi-sensor fusion are introduced. Finally, this paper discusses the future development trends in the sensing technology for autonomous mobile robots in indoor scenes, as well as the challenges in the practical application environments.

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“…To improve the localization capability, other devices or techniques were developed to integrate with GPR. A sensing suite consisting of a camera and a GRP was developed for both surface and subsurface infrastructure inspection, where novel methods were developed for the GPR-camera calibration and sensor data fusion [30]. The system was able to reduce errors in infrastructure inspection and realize 3D reconstruction of structures.…”

Section: Locating and Mapping Of Underground Infrastructurementioning

confidence: 99%

Construction and maintenance of urban underground infrastructure with digital technologies

Wang

Yin

2022

Automation in Construction

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Encoder-Camera-Ground Penetrating Radar Sensor Fusion: Bimodal Calibration and Subsurface Mapping

Cited by 12 publications

References 39 publications

Simultaneous Localization and Mapping for Inspection Robots in Water and Sewer Pipe Networks: A Review

Simultaneous Localization and Mapping for Inspection Robots in Water and Sewer Pipe Networks: A Review

A Review of Sensing Technologies for Indoor Autonomous Mobile Robots

Construction and maintenance of urban underground infrastructure with digital technologies

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