High Precision In-Pipe Robot Localization with Reciprocal Sensor Fusion - Robotics Institute Carnegie Mellon University

High Precision In-Pipe Robot Localization with Reciprocal Sensor Fusion

Dapeng Zhao and William Whittaker
Conference Paper, Proceedings of Waste Management Symposium (WM '19), March, 2019

Abstract

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.

BibTeX

@conference{Zhao-2019-126891,
author = {Dapeng Zhao and William Whittaker},
title = {High Precision In-Pipe Robot Localization with Reciprocal Sensor Fusion},
booktitle = {Proceedings of Waste Management Symposium (WM '19)},
year = {2019},
month = {March},
}
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