Alireza AHRARY
Information, Production and Systems Research Center, Waseda University
2-7 Hibikino, Wakamatsu-ku, Kitakyushu 808-0135, Japan
http://kamata-lab.org/ali/
 

Abstract

Robot localization and navigation are ones of the fundamental issues in robotics. The sewer environment contains only a few local features such as manholes, junctions, pipe joints and inlets that are usable as landmarks for localization. In order to navigate an autonomous sewer inspection robot to a given goal (manhole), landmark detection problem needs to be solved. This paper presents a method for landmark detection and self localization by fusion of an IR sensor and a camera. The proposed method is verified with a prototype autonomous sewer inspection robot platform. The result shows 100% of input sewer image provides correct estimation of the distance

Keywords:  Mobile robot, Self localization, Sewer system, Hough transform.

(P1150740010, 1.44 MB)

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BibTex:

@ARTICLE{P1150740010,

AUTHOR = {Alireza AHRARY },

TITLE = {Localization of a Mobile Robot in Sewer Pipes Using Hough Transform},

JOURNAL ={ICGST International Journal on Graphics, Vision and Image Processing, GVIP},

}

(P1150740010, 1.44 MB)