High Precision In-Pipe Robot Localization with Reciprocal Sensor Fusion
arXiv:2002.12408v16 citations
AI Analysis
This solves the localization problem for in-pipe robotics, enabling accurate measurement positioning in infrastructure inspection.
The paper tackled the problem of precise absolute localization for in-pipe robots in long pipe runs, developing an unprecedented localization method to address this challenge.
The huge advantage of in-pipe robots is that they are able to measure from inside the pipes, and to sense the geometry, appearance and radiometry directly. The downside is the inability to know precise, absolute position of the measurements in very long pipe runs. This paper develops the unprecedented localization required for this purpose.