Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization

One of the most fundamental tasks for robots inspecting water distribution pipes is localization, which allows for autonomous navigation, for faults to be communicated, and for interventions to be instigated. Pose-graph optimization using spatially varying information is used to enable localization...

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Bibliografiske detaljer

Principais autores:	Rob Worley, Ke Ma, Gavin Sailor, Michele M. Schirru, Rob Dwyer-Joyce, Joby Boxall, Tony Dodd, Richard Collins, Sean Anderson
Format:	Artigo
Sprog:	Inglês
Udgivet:	MDPI AG 2020-09-01
Serier:	Sensors
Fag:	robot localization and mapping SLAM pose-graph optimization pipe inspection robot
Online adgang:	https://www.mdpi.com/1424-8220/20/19/5584
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