Self-localization of autonomous sewer robots by using a stereo camera and a laser scanner

被引：0
|
作者：
Ahrary, Alireza [1 ]
Ishikawa, Masumi [2 ]
机构：
[1] FAIS, Robot Res Inst, Ctr Collaborat, Wakamatsu Ku, 4F,2-1 Hibikino, Kitakyushu, Fukuoka 8080196, Japan
[2] Kyushu Inst Technol, Grad Sch Life Sci & Syst, Kitakyushu, Fukuoka 8080196, Japan
来源：
PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL | 2006年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Sewer environment contains only a few features that are usable as landmarks for localization such as manholes and pipe joints. This research describes a method for autonomous sewer robots to navigate through a sewer pipe system based on detection of landmarks. In this method, locations of landmarks and autonomous sewer robots in the pipe system are computed by a laser scanner and stereo image data. The method is implemented and evaluated on a prototype robot platform operating in a dry sewer pipe test field.
引用
收藏
页码：78 / 83
页数：6
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