Robotic Subsurface Pipeline Mapping with a Ground-penetrating Radar and a Camera

Li, Haifeng; Chou, Chieh; Liu, Fan; Li, Binbin; Wang, Di; Song, Dezhen

doi:10.1109/iros.2018.8594006

Cited by 5 publications

(2 citation statements)

References 16 publications

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“…Nevertheless, the findings provide encouragement for the application of GPR, alongside other survey techniques, e.g. laser scanning, infrared thermography (Plati et al, 2014;Li et al, 2018;Li et al, 2019), on a robotic cart that could be deployed overnight on cordoned of lengths of road as part of a minimally-disruptive programme of routine surveying. The results, when postprocessed and examined by the surveyor, and combined with local knowledge (those responsible for road maintenance often have an understanding of where potential problems might occur, perhaps backed up by reports from the public), would therefore be of value in informing subsequent maintenance decisions: no further action before the next routine survey, further detailed surveying or planned maintenance activity to repair the surface.…”

Section: Modelling Resultsmentioning

confidence: 94%

Automated detection of cracks in roads using ground penetrating radar

Torbaghan

Metje

et al. 2020

Journal of Applied Geophysics

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Section: Modelling Resultsmentioning

confidence: 94%

Automated detection of cracks in roads using ground penetrating radar

Torbaghan

Metje

et al. 2020

Journal of Applied Geophysics

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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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