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Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization
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...
Autores principales: | , , , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7583040/ https://www.ncbi.nlm.nih.gov/pubmed/33003456 http://dx.doi.org/10.3390/s20195584 |
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author | Worley, Rob Ma, Ke Sailor, Gavin Schirru, Michele M. Dwyer-Joyce, Rob Boxall, Joby Dodd, Tony Collins, Richard Anderson, Sean |
author_facet | Worley, Rob Ma, Ke Sailor, Gavin Schirru, Michele M. Dwyer-Joyce, Rob Boxall, Joby Dodd, Tony Collins, Richard Anderson, Sean |
author_sort | Worley, Rob |
collection | PubMed |
description | 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. |
format | Online Article Text |
id | pubmed-7583040 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-75830402020-10-28 Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization Worley, Rob Ma, Ke Sailor, Gavin Schirru, Michele M. Dwyer-Joyce, Rob Boxall, Joby Dodd, Tony Collins, Richard Anderson, Sean Sensors (Basel) Article 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. MDPI 2020-09-29 /pmc/articles/PMC7583040/ /pubmed/33003456 http://dx.doi.org/10.3390/s20195584 Text en © 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/). |
spellingShingle | Article Worley, Rob Ma, Ke Sailor, Gavin Schirru, Michele M. Dwyer-Joyce, Rob Boxall, Joby Dodd, Tony Collins, Richard Anderson, Sean Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization |
title | Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization |
title_full | Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization |
title_fullStr | Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization |
title_full_unstemmed | Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization |
title_short | Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization |
title_sort | robot localization in water pipes using acoustic signals and pose graph optimization |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7583040/ https://www.ncbi.nlm.nih.gov/pubmed/33003456 http://dx.doi.org/10.3390/s20195584 |
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