ARSI: An Aerial Robot for Sewer Inspection

Chataigner, François; Cavestany, Pedro; Soler, Marcel; Rizzo, Carlos; Gonzalez, Jesus-Pablo; Bosch, Carles; Gibert, Jaume; Torrente, Antonio; Gómez, R. Golpe; Serrano, Daniel

doi:10.1007/978-3-030-22327-4_12

Cited by 13 publications

(9 citation statements)

References 10 publications

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“…Additional challenges presented in this work are from larger uncertainty in measurements, false positive and negative measurements, and error in the environment map. The approach developed is therefore different from previous methods for pipe networks, recent demonstrations of localization methods for pipe networks [9], [10], and other recent developments in localization in similar environments such as mines [11] and tunnels [12], which show effective localization with a large range of sensors. Here the aim of localization is to provide a sufficient position estimate to allow navigation and reporting of faults in the pipes, rather than for precise mapping and control.…”

Section: Introductionmentioning

confidence: 88%

Robust Efficient Localization of Robots in Pipe Networks using a Particle Filter for Hybrid Metric-Topological Space

Worley

Anderson

2021

2021 European Conference on Mobile Robots (ECMR)

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Water distribution and drainage pipe inspection and maintenance is costly, and could be improved by using robots to locate faults from within the pipes. Robot localization is critical in this operation, but is challenging due to the constraints of the pipe environment. An efficient, robust algorithm is needed for localization using limited sensors. A novel particle filter algorithm is proposed for localization, which estimates the robot's position in a hybrid metric-topological state space, allowing efficient computation and relocalization. The algorithm is demonstrated in simulation at a large scale, considering substantial uncertainty in motion, measurements, and the map of the environment, showing an improvement over a benchmark algorithm developed for this application.

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Section: Introductionmentioning

confidence: 88%

Robust Efficient Localization of Robots in Pipe Networks using a Particle Filter for Hybrid Metric-Topological Space

Worley

Anderson

2021

2021 European Conference on Mobile Robots (ECMR)

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“…With a short to medium size baseline and a global shutter, the RealSense D435 (Intel Corporation, Santa Clara, CA, United States)is the best choice for sewer inspection. It is used in the ARSI autonomous micro air vehicle for inspection of sewers [ 10 ] and for aerial robotic navigation in low–light GNSS–denied conditions [ 68 ]. Because it contains a NIR laser projector it can function as either a passive or active stereo camera and lets us cover both passive and active stereo vision using a single camera.…”

Section: Depth Sensorsmentioning

confidence: 99%

“…The vision of a fully autonomous robot for sewer inspection has spurred many interesting research projects over the last 25 years which have produced several robotic prototypes for demonstration purposes such as KURT [ 7 ], MAKRO [ 8 ], KANTARO [ 9 ], ARSI [ 10 ], and SIAR [ 11 ]. For a full overview, we refer to the excellent survey by Mirats-Tur and Garthwaite [ 12 ].…”

Section: Introductionmentioning

confidence: 99%

“…It is therefore necessary to move from two-dimensional image-based inspection towards three-dimensional (3D) depth-based inspection guided by guided by recent advances in robust, low-powered depth sensors. Although such sensors have been applied in recent projects on autonomous sewer inspection robots [ 10 , 11 ], their depth sensing qualities have not been thoroughly assessed.…”

Section: Introductionmentioning

confidence: 99%

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3D Sensors for Sewer Inspection: A Quantitative Review and Analysis

Bahnsen

Johansen

Philipsen

et al. 2021

Sensors

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Automating inspection of critical infrastructure such as sewer systems will help utilities optimize maintenance and replacement schedules. The current inspection process consists of manual reviews of video as an operator controls a sewer inspection vehicle remotely. The process is slow, labor-intensive, and expensive and presents a huge potential for automation. With this work, we address a central component of the next generation of robotic inspection of sewers, namely the choice of 3D sensing technology. We investigate three prominent techniques for 3D vision: passive stereo, active stereo, and time-of-flight (ToF). The Realsense D435 camera is chosen as the representative of the first two techniques wheres the PMD CamBoard pico flexx represents ToF. The 3D reconstruction performance of the sensors is assessed in both a laboratory setup and in an outdoor above-ground setup. The acquired point clouds from the sensors are compared with reference 3D models using the cloud-to-mesh metric. The reconstruction performance of the sensors is tested with respect to different illuminance levels and different levels of water in the pipes. The results of the tests show that the ToF-based point cloud from the pico flexx is superior to the output of the active and passive stereo cameras.

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“…Existing constrained robotic operating environments cover a wide range including infrastructure sectors (e.g. sewer pipe [7,26], bridge [30] or HVAC inspection [3]), disaster management [13,21] and powerline inspection [24]).…”

Section: Introductionmentioning

confidence: 99%

WomBot: an exploratory robot for monitoring wombat burrows

et al. 2021

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In this study we evaluate the design and efficacy of Wombot, an exploratory robot used to study environmental conditions within wombat burrows. Our purpose-built robot traverses through the difficult terrain present in wombat burrows whilst facilitating placement and retrieval of environmental data loggers. Our preliminary results suggest that the environmental conditions present within the burrows would result in a long mite survival time which shows significant risk for spreading infestations throughout a wombat population. Article Highlights Wombats live in difficult to observe burrows and suffer from mange cased by Sarcoptes scabiei. A teleoperated robot was designed to traverse the difficult terrain within burrows whilst placing and retrieving environmental loggers. Cool and humid environmental conditions within burrows suggest a relatively long mite survival time of 16–18 days

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ARSI: An Aerial Robot for Sewer Inspection

Cited by 13 publications

References 10 publications

Robust Efficient Localization of Robots in Pipe Networks using a Particle Filter for Hybrid Metric-Topological Space

Robust Efficient Localization of Robots in Pipe Networks using a Particle Filter for Hybrid Metric-Topological Space

3D Sensors for Sewer Inspection: A Quantitative Review and Analysis

WomBot: an exploratory robot for monitoring wombat burrows

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