2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) 2012
DOI: 10.1109/mfi.2012.6342999
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Estimating the posture of pipeline inspection robot with a 2D Laser Rang Finder

Abstract: Pipeline network is one of the city's critical infrastructures, such as lots of gas pipes and water pipes exist in public utilities, factories and so on. Regular inspection is required to ensure the static integrity of the pipes and to insure against the problems associated with failure of the pipes. We have developed a pipeline inspection robot equipped with a camera which can walk in the pipes and stream back live video to the base station. In this paper we propose a new method for estimating the posture of … Show more

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Cited by 7 publications
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