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

Elbows 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 uniqu...

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Veröffentlicht in:	Robotica 2016-03, Vol.34 (3), p.601-618
Hauptverfasser:	Lee, Dong-Hyuk, Moon, Hyungpil, Choi, Hyouk Ryeol
Format:	Artikel
Sprache:	eng
Schlagworte:	Gas pipelines Illuminators Landmarks Lasers Projection Projectors Robots Shadows
Online-Zugang:	Volltext
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