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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...

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Detalles Bibliográficos
Autores principales: Worley, Rob, Ma, Ke, Sailor, Gavin, Schirru, Michele M., Dwyer-Joyce, Rob, Boxall, Joby, Dodd, Tony, Collins, Richard, Anderson, Sean
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
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.
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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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