A robust method for approximate visual robot localization in feature-sparse sewer pipes

Edwards, S., Zhang, R., Worley, R. et al. (3 more authors) (2023) A robust method for approximate visual robot localization in feature-sparse sewer pipes. Frontiers of Robotics and AI, 10. 1150508. ISSN 2296-9144

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Item Type: Article
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© 2023 Edwards, Zhang, Worley, Mihaylova, Aitken and Anderson. This is an open-access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

Keywords: Robot localization; Sewer Pipe Networks; Feature-sparse; visual odometry; Bag-of-keypoints; pipe joint detection
Dates:
  • Published: 6 April 2023
  • Published (online): 6 April 2023
  • Accepted: 16 March 2023
Institution: The University of Sheffield
Academic Units: The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield)
Funding Information:
Funder
Grant number
ENGINEERING AND PHYSICAL SCIENCE RESEARCH COUNCIL
EP/S016813/1
Depositing User: Symplectic Sheffield
Date Deposited: 24 Mar 2023 12:18
Last Modified: 06 Apr 2023 10:49
Status: Published
Publisher: Frontiers Media
Refereed: Yes
Identification Number: 10.3389/frobt.2023.1150508
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