Worley, R., Ma, K., Sailor, G. et al. (6 more authors) (2020) Robot localization in water pipes using acoustic signals and pose graph optimization. Sensors, 20 (19). 5584.
Abstract
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 within a feature-sparse length of pipe. We present a novel method for improving estimation of a robot’s trajectory using the measured acoustic field, which is applicable to other measurements such as magnetic field sensing. Experimental results show that the use of acoustic information in pose-graph optimization reduces errors by 39% compared to the use of typical pose-graph optimization using landmark features only. High location accuracy is essential to efficiently and effectively target investment to maximise the use of our aging pipe infrastructure.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
Keywords: | Robot localization and mapping; SLAM; Pose-graph optimization; Pipe inspection robot |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Civil and Structural Engineering (Sheffield) The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Mechanical Engineering (Sheffield) |
Funding Information: | Funder Grant number ENGINEERING AND PHYSICAL SCIENCE RESEARCH COUNCIL EP/K021699/1 ENGINEERING AND PHYSICAL SCIENCE RESEARCH COUNCIL EP/N010124/1 Engineering and Physical Sciences Research Council EP/K021699/1 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 15 Oct 2020 09:09 |
Last Modified: | 15 Oct 2020 09:09 |
Status: | Published |
Publisher: | MDPI AG |
Refereed: | Yes |
Identification Number: | 10.3390/s20195584 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:166325 |