Proceedings ArticleDOI
Automated mapping for underground pipelines: An overview
Norhidayah Mohamad Yatim,R. L. A. Shauri,Norlida Buniyamin +2 more
- pp 77-82
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TLDR
It is indicated that to design an automated mapping system for underground pipelines, researchers must consider the type of sensors that can be used underground and in a metal environment and the need for the implementation of Simultaneous Localization and Mapping (SLAM) algorithm.Abstract:
Autonomous robot platform for pipeline inspection is a preferred alternative to efficiently monitor pipeline condition. A large number of research in the area of inspection robot focuses on corrosion detection and navigation. There is however a smaller number of researchers that investigates mapping and detection of underground and buried pipeline network/routes. This paper presents an overview of research in the area of automated mapping of underground pipelines. There is a need to map underground pipelines due to non-availability of maps and network diagrams of existing pipelines caused by poor documentation management and poor updating of documentation whenever piping rerouting occurs. An accurate map also could be used by an autonomous inspection robot for navigation and localization. An autonomous inspection robot that can accurately detect pipelines could then be used to detect misalignment and deformities of pipeline structures and network. This investigation indicates that to design an automated mapping system for underground pipelines, researchers must consider the type of sensors that can be used underground and in a metal environment. The investigation also points out the need for the implementation of Simultaneous Localization and Mapping (SLAM) algorithm and the right map representation such as occupancy grid map to map the pipelines route as it could produce a more accurate map with preferred type of sensors.read more
Citations
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Journal ArticleDOI
Visual and nondestructive evaluation inspection of live gas mains using the Explorer family of pipe robots
TL;DR: In this article, a visual inspection and nondestructive evaluation (NDE) of natural gas distribution mains is discussed. But the NDE is not considered in this paper.
Proceedings ArticleDOI
Sound-based online localization for an in-pipe snake robot
Yoshiaki Bando,Hiroki Suhara,Motoyasu Tanaka,Tetsushi Kamegawa,Katsutoshi Itoyama,Kazuyoshi Yoshii,Fumitoshi Matsuno,Hiroshi G. Okuno +7 more
TL;DR: This paper presents a sound-based online localization method for an in-pipe snake robot with an inertial measurement unit (IMU) and shows that the error of the distance estimation was less than 7% and the accuracy of the pipeline map was more than 68.0%.
Journal ArticleDOI
Simultaneous Localization and Mapping for Inspection Robots in Water and Sewer Pipe Networks: A Review
Jonathan M. Aitken,Mathew H. Evans,Rob Worley,S. Edwards,Rui Zhang,Tony J. Dodd,Lyudmila Mihaylova,Sean R. Anderson +7 more
TL;DR: A survey of state-of-the-art works on robot simultaneous localization and mapping (SLAM) with a focus on water and sewer pipe networks is presented in this paper.
Book ChapterDOI
Development of tough snake robot systems
Fumitoshi Matsuno,Tetsushi Kamegawa,Wei Qi,Tatsuya Takemori,Motoyasu Tanaka,Mizuki Nakajima,Kenjiro Tadakuma,Masahiro Fujita,Yosuke Suzuki,Katsutoshi Itoyama,Hiroshi G. Okuno,Yoshiaki Bando,Tomofumi Fujiwara,Satoshi Tadokoro +13 more
TL;DR: The main target applications of these snake robots are exploration of complex plant structures, such as the interior and exterior of pipes, debris, and even ladders, and the inspection of narrow spaces within buildings, e.g., roof spaces and underfloor spaces, which would enable plant patrol and inspection.
Proceedings ArticleDOI
Design of an adjustable pipeline inspection robot with three belt driven mechanical modules
Chung-Wei Ou,Chin-Jung Chao,Fa-Shian Chang,Shun-Min Wang,Lee Jeng-Nan,Ren-De Hung,Bin Chiu,Kai-Yi Cho,Lih-Tyng Hwang +8 more
TL;DR: In this article, an adjustable pipeline inspection robot with three belt driven mechanical modules is presented, which can be used for 30-45 cm diameter pipeline inspection and can be operated in various sizes of pipeline and can utilize the belt driven walking model to conquer the irregular barriers of pipeline.
References
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Journal ArticleDOI
Simultaneous localization and mapping: part I
TL;DR: This paper describes the simultaneous localization and mapping (SLAM) problem and the essential methods for solving the SLAM problem and summarizes key implementations and demonstrations of the method.
Rao-Blackwellised Particle Filtering for Dynamic Bayesian Networks.
Kevin Murphy,Stuart Russell +1 more
TL;DR: In this article, Rao-Blackwellised particle filters (RBPFs) were proposed to increase the efficiency of particle filtering, using a technique known as Rao-blackwellisation.
Book ChapterDOI
Rao-blackwellised particle filtering for dynamic Bayesian networks
TL;DR: In this paper, Rao-Blackwellised particle filters (RBPFs) were proposed to increase the efficiency of particle filtering, using a technique known as Rao-blackwellisation.
Proceedings ArticleDOI
Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling
TL;DR: Adapt techniques to reduce the number of particles in a Rao-Blackwellized particle filter for learning grid maps are presented and an approach to selectively carry out re-sampling operations which seriously reduces the problem of particle depletion is presented.
Proceedings ArticleDOI
An efficient fastSLAM algorithm for generating maps of large-scale cyclic environments from raw laser range measurements
TL;DR: In this paper a novel algorithm that combines Rao-Blackwellized particle filtering and scan matching is presented, which reduces the particle depletion problem that typically prevents the robot from closing large loops.