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Robot Mapping and Localisation for Feature Sparse Water Pipes Using Voids as Landmarks

Ma, K., Zhu, J., DODD, Tony, Collins, R. and Anderson, S.R. (2015) Robot Mapping and Localisation for Feature Sparse Water Pipes Using Voids as Landmarks. In: Towards Autonomous Robotic Systems. 16th Annual Conference, TAROS 2015,. Lecture Notes in Computer Science, 9287 . Springer International Publishing, Liverpool, UK., pp. 161-166. ISBN 978-3-319-22415-2

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Abstract or description

Robotic systems for water pipe inspection do not generally include navigation components for mapping the pipe network and locating damage. Such navigation systems would be highly advantageous for water companies because it would allow them to more effectively target maintenance and reduce costs. In water pipes, a major challenge for robot navigation is feature sparsity. In order to address this problem, a novel approach for robot navigation in water pipes is developed here, which uses a new type of landmark feature - voids outside the pipe wall, sensed by ultrasonic scanning. The method was successfully demonstrated in a laboratory environment and showed for the first time the potential of using voids for robot navigation in water pipes.

Item Type: Book Chapter, Section or Conference Proceeding
Additional Information: © 2015 Springer International Publishing Switzerland. This is an author produced version of a paper subsequently published in Lecture Notes in Computer Science. Uploaded in accordance with the publisher's self-archiving policy.
Uncontrolled Keywords: Robot navigation; Mapping; Localisation; Water pipes
Faculty: School of Creative Arts and Engineering > Engineering
Depositing User: Library STORE team
Date Deposited: 15 Jul 2020 15:08
Last Modified: 15 Jul 2020 15:08
URI: http://eprints.staffs.ac.uk/id/eprint/6243

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